WO2022089381A1 - Procédé de commutation à double canal, véhicule aérien sans pilote et terminal de commande - Google Patents

Procédé de commutation à double canal, véhicule aérien sans pilote et terminal de commande Download PDF

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Publication number
WO2022089381A1
WO2022089381A1 PCT/CN2021/126195 CN2021126195W WO2022089381A1 WO 2022089381 A1 WO2022089381 A1 WO 2022089381A1 CN 2021126195 W CN2021126195 W CN 2021126195W WO 2022089381 A1 WO2022089381 A1 WO 2022089381A1
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WIPO (PCT)
Prior art keywords
communication network
positioning
data path
uav
control terminal
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PCT/CN2021/126195
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English (en)
Chinese (zh)
Inventor
许祥滨
高峰
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泰斗微电子科技有限公司
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Publication of WO2022089381A1 publication Critical patent/WO2022089381A1/fr

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Classifications

    • 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
    • H04W4/025—Services making use of location information using location based information parameters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
    • G01S19/215—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service issues related to spoofing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • 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
    • H04W4/029—Location-based management or tracking 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
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Definitions

  • the present application relates to the technical field of unmanned aerial vehicles, and in particular, to a dual-channel switching method, an unmanned aerial vehicle and a control terminal.
  • the technical problem to be solved by the embodiments of the present application is to improve the dual-channel switching effect of the anti-UAV equipment, so that the UAV can also return home smoothly when attacked by the anti-UAV equipment.
  • the embodiment of the present application provides a dual-channel switching method, which is applied to a drone, including:
  • the positioning switching information sent by the control terminal is received through the communication network; the positioning switching information is used to instruct the positioning data path of the UAV to switch from the first positioning data path to the second positioning data path, and the first positioning data path
  • the positioning mode corresponding to the second positioning data path is different;
  • the positioning is performed by switching from the first positioning data path to the second positioning data path according to the positioning switching information, so as to send the positioning information obtained according to the second positioning data path to the control terminal through the communication network.
  • a dual-channel switching method is provided, which is applied to a control terminal, including:
  • the positioning switching information is used to instruct the positioning data path of the UAV to switch from the first positioning data path to the second positioning data path, and the first positioning data path
  • the positioning mode corresponding to the second positioning data path is different.
  • the positioning information obtained by the second positioning data path to which the UAV is switched according to the positioning switching information is received.
  • an unmanned aerial vehicle including: a memory, a processor, and a transceiver.
  • the memory is used to store program codes.
  • the transceiver is configured to receive the positioning switching information sent by the control terminal through the communication network, where the positioning switching information is used to instruct the positioning data path of the UAV to switch from the first positioning data path to the second positioning data path,
  • the positioning modes corresponding to the first positioning data path and the second positioning data path are different.
  • the processor is configured to call the program code, and when the program code is executed, is configured to perform the following operations:
  • the positioning is performed by switching from the first positioning data path to the second positioning data path according to the positioning switching information, so as to send the positioning information obtained according to the second positioning data path to the control terminal through the communication network.
  • a control terminal including: a memory, a processor and a transceiver;
  • the memory for storing program codes
  • the transceiver is configured to send positioning switching information to the UAV through the communication network, where the positioning switching information is used to instruct the positioning data path of the UAV to switch from the first positioning data path to the second positioning data path,
  • the positioning modes corresponding to the first positioning data path and the second positioning data path are different;
  • the processor is configured to call the program code, and when the program code is executed, is configured to perform the following operations:
  • the positioning information obtained by the second positioning data path to which the UAV is switched according to the positioning switching information is received.
  • the UAV is under the Beidou/GNSS spoofing attack of the anti-UAV equipment. Still able to return smoothly.
  • the working mode is switched from the command mode of receiving control commands to the pre-stored flight mode, which can reduce the number of commands, thereby reducing the data bandwidth requirements for using the second communication network.
  • the data transmission traffic can be reduced, thereby reducing the requirement for using the data bandwidth of the second communication network.
  • the backup control channel and positioning signal channel can be realized at the same time, reducing the complexity of product design.
  • 1 is a system architecture diagram of an unmanned aerial system involved in the application
  • FIG. 2 is a message interaction diagram of a dual-channel control method provided by Embodiment 1 of the present application;
  • FIG. 3 is a message interaction diagram of a dual-channel control method provided by Embodiment 2 of the present application.
  • FIG. 4 is a schematic diagram of a method for switching an unmanned aerial vehicle provided by an embodiment
  • FIG. 5 is a message interaction diagram of the dual-channel control method provided by Embodiment 3 of the present application.
  • FIG. 6 is a schematic diagram of a switching method for a control terminal provided by an embodiment
  • FIG. 7 is a message interaction diagram of the dual-channel control method provided by Embodiment 4 of the present application.
  • FIG. 8 is a message interaction diagram of the dual-channel control method provided by Embodiment 5 of the present application.
  • FIG. 9 is a message interaction diagram of the dual-channel control method provided by Embodiment 6 of the present application.
  • FIG. 10 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the application.
  • FIG. 11 is a schematic structural diagram of a control terminal provided by an embodiment of the present application.
  • the positioning data path is GNSS, usually Beidou/GNSS.
  • the positioning data channel is interfered or deceived, the positioning data returned by the UAV will be different from the positioning data of the current position of the UAV, resulting in the inability of the UAV to accurately locate and return home smoothly.
  • FIG. 1 is a system architecture diagram of the unmanned aerial system involved in the application.
  • the unmanned aerial system may include a control terminal 2 and an unmanned aerial vehicle 1, and the application does not limit the types of the control terminal and the unmanned aerial vehicle.
  • the drone can be a small drone, a large drone, a rotary-wing drone, and so on.
  • the control terminal and the UAV can communicate through the communication network.
  • the UAV 1 can be positioned through the first positioning data path 3 and/or the second positioning data path 4, and the control terminal and the UAV can be positioned through the first communication network 5 and/or the second positioning data path 4.
  • the communication network 6 performs communication and control.
  • the drone sends an uplink signal 7 to the control terminal through the first communication network and/or the second communication network, and the control terminal sends a downlink signal 8 to the drone through the first communication network and/or the second communication network.
  • FIG. 2 is an information interaction diagram of the dual-channel control method provided in Embodiment 1 of the present application.
  • a dual-channel control method is provided.
  • the method is mainly applied to an unmanned aerial vehicle for illustration.
  • the UAV may be the UAV 1 in the above-mentioned FIG. 1 .
  • the dual-channel control method specifically includes the following steps: S101 , the drone receives positioning switching information sent by a control terminal through a communication network.
  • the positioning switching information is used to instruct the positioning data path of the UAV to switch from the first positioning data path to the second positioning data path, and the first positioning data path and the second positioning data path have different positioning modes.
  • the type of the communication network is not limited.
  • the communication network may be a wireless ad hoc network, for example, using a frequency band of 2.4GHz or 5.8GHz for communication, a wireless local area network (Wireless Local Area Network) Fidelity, WIFI), Bluetooth, radio, etc.
  • a wireless local area network Wireless Local Area Network
  • WIFI Wireless Local Area Network
  • the communication network can also be a public wireless communication network, for example, the Global System of Mobile communication, GSM) network, Code Division Multiple Access (Code Division) Multiple Access, CDMA) network, Wideband Code Division Multiple Access (Wideband Code) Division Multiple Access, WCDMA) network, Time Division Synchronous Code Division Multiple Access (Time Division Multiple Access) Division-Synchronous Code Division Multiple Access, TD-SCDMA) network, Long Term Evolution, LTE) network, 5G network, etc.
  • GSM Global System of Mobile communication
  • CDMA Code Division Multiple Access
  • WCDMA Wideband Code Division Multiple Access
  • WCDMA Wideband Code Division Multiple Access
  • Time Division Synchronous Code Division Multiple Access Time Division Multiple Access
  • Time Division Multiple Access Time Division Multiple Access
  • TD-SCDMA Time Division Synchronous Code Division Multiple Access
  • LTE Long Term Evolution
  • 5G 5G network
  • S102 The drone switches from the first positioning data path to the second positioning data path to perform positioning according to the positioning switching information, and the control terminal receives the positioning information obtained by the second positioning data path switched by the drone according to the positioning switching information.
  • the first positioning data path and the second positioning data path are both data links, which are used to obtain information such as the real-time position of the UAV, and transmit the information to the control terminal to ensure that the control terminal can detect the UAV in real time. Make adjustment controls.
  • the existing UAV has only one positioning data path.
  • the first positioning data path is used as the main positioning data path, which is used to obtain information such as the real-time position of the UAV under normal conditions, and effectively adjust the UAV. and control;
  • the second positioning data path is used as a backup positioning data path to ensure that there is a backup positioning data path to obtain information when the first positioning data path is interfered or deceived, so as to effectively adjust and control the UAV , to achieve the successful completion of the task and return.
  • the UAV switches from the first positioning data path to the second positioning data path by receiving the positioning switching information, and uses the positioning information of the second positioning data path as the current positioning information, so that when the UAV is attacked, That is, when the positioning data channel is interfered or deceived, the position of the UAV can be obtained through the backup positioning data channel, thereby solving the technical problem of Beidou/GNSS spoofing.
  • the first positioning data path is the conventional positioning data path of the UAV, usually Beidou/GNSS.
  • the second positioning data path may be Beidou RDSS; in another implementation manner, the first positioning data path is Beidou/GNSS, and the second positioning data path is an inertial navigation positioning data path.
  • the second embodiment provides a dual-channel control method.
  • the information interaction diagram of the dual-channel control method in this embodiment is shown in FIG. 3 .
  • the communication network includes a first communication network and a second communication network.
  • the dual-channel control method specifically includes the following steps:
  • the control terminal sends communication switching information to the drone through the second communication network.
  • the communication switching information is used to instruct the drone to switch from the first communication network to the second communication network to communicate with the control terminal.
  • a new communication network is added to the flight control system, and the drone switches the first communication network to the second communication network by receiving the switching information sent by the control terminal to receive the positioning switching information, and according to the positioning switching information
  • the data channel is switched to the second positioning data channel, so that when the first communication network is interfered by the interfering equipment, the backup communication network can be used to ensure the smooth communication and realize the effective remote control, so that the UAV is attacked by the anti-UAV.
  • the equipment is attacked, it can also return home smoothly.
  • the drone switches from the first communication network to the second communication network according to the communication switching information to communicate with the control terminal.
  • the control terminal sends the positioning switching information to the drone through the second communication network.
  • the positioning switching information is used to instruct the positioning data path of the UAV to switch from the first positioning data path to the second positioning data path, and the first positioning data path and the second positioning data path have different positioning modes.
  • the UAV switches from the first positioning data path to the second positioning data path to perform positioning according to the positioning switching information.
  • the UAV sends the positioning information obtained from the second positioning data path switched according to the positioning switching information to the control terminal through the communication network.
  • the first communication network is the conventional communication network between the UAV and the control terminal, such as the communication network in the conventional civil frequency band such as 1.2GHZ/2.4GHZ/5.8GHZ, etc.
  • the second communication network is the communication network in the unconventional civilian frequency band
  • a positioning data path is the conventional positioning data path of the UAV and the control terminal, such as Beidou/GNSS.
  • the switching process of the UAV can be shown in FIG. 4 .
  • the first communication network is used to communicate with the control terminal, and the first positioning data path is used to perform the UAV operation. real-time positioning.
  • the UAV detects in real time whether the second communication network has communication switching information sent by the control terminal to the UAV, where:
  • the UAV When the UAV receives the communication switching information in the second communication network, that is, when the control terminal commands the UAV to switch to the second communication network for communication, the UAV switches from the first communication network to the second communication network and Control the terminal to communicate. And real-time detection of whether the second communication network has received the positioning switching information.
  • the UAV When the UAV receives the positioning switching information sent by the control terminal through the second communication network, the UAV switches from the first positioning data path to the second positioning data path to realize the real-time monitoring of the UAV Positioning;
  • the UAV does not receive the positioning switching information sent by the control terminal through the second communication network, the UAV still uses the first positioning data path to perform real-time positioning of the UAV, and continues to detect in real time Position switch information.
  • the drone detects in real time whether the control terminal has sent the positioning switching information through the first communication network.
  • the drone still uses the first communication network to communicate with the control terminal, and uses the first positioning data path Perform real-time positioning of drones. And continue to detect in real time whether the second communication network has the communication switching information sent by the control terminal to the UAV;
  • the UAV When the UAV receives the positioning switching information sent by the control terminal through the first communication network, the UAV will Switch from the first positioning data channel to the second positioning data channel to realize the real-time positioning of the UAV.
  • the UAV still detects in real time whether there is communication switching information sent by the control terminal to the UAV in the second communication network.
  • the UAV When the UAV receives the communication switching information sent by the control terminal to the UAV through the second communication network, the UAV switches from the first communication network to the second communication network to communicate with the control terminal (2-b-b)
  • the UAV When the UAV does not receive the communication switching information sent by the control terminal through the second communication network, the UAV still uses the first communication network to communicate with the control terminal, and continues to detect the communication switching information in real time.
  • both the second communication network and the second positioning data path are Beidou RDSS.
  • Beidou RDSS can also communicate through Beidou short messages. Therefore, using Beidou RDSS can create a second positioning data channel and a second communication network at the same time, which makes the implementation of UAV interference simpler and more effective.
  • Beidou RDSS is the communication method that the control terminal communicates with the satellite through the Beidou short message, and the signal is forwarded by the satellite, so it cannot be interfered by the anti-UAV equipment.
  • the positioning method adopted by the second positioning data path is inertial navigation
  • the second communication network is a large-S satellite communication network. Since the anti-drone equipment interferes with conventional civil frequency bands such as 1.2GHz, 2.4GHz, 5.8GHz, etc., which is different from the large S satellite communication network, this combination method can be interfered by the anti-drone equipment, while the satellite When the signal is weak enough to locate by satellite, the location acquisition and communication of the UAV can be realized.
  • the second communication network when the first communication network is normal, the second communication network is not used as much as possible.
  • the method further includes:
  • the working mode used by the drone is the command mode, that is, the flight status and flight destination of the drone need to pass through the control terminal. Only by sending control commands in real time can relevant control adjustments be realized.
  • the control instructions may be instructions for controlling the drone to perform related operations such as raising, landing, acceleration, and deceleration. At this time, there are many instructions and a large amount of data transmitted between the UAV and the control terminal. Since the first communication network is the main communication network and the channel bandwidth is relatively large, the first communication network can realize the transmission of a large amount of data.
  • the second communication network is a backup communication network, such as RNSS
  • the channel bandwidth is smaller than that of the first communication network, so the amount of data that can be transmitted is also smaller. Therefore, when the drone switches to the second communication network to communicate with the control terminal, the drone needs to switch from the command mode to a pre-stored flight mode, such as the return-to-home mode and the mode of flying to a designated location.
  • the pre-stored flight mode is to preset parameters such as the flight altitude, flight speed, flight trajectory and flight destination of the drone in the drone.
  • the drone does not need to receive the control commands sent by the control terminal through the second communication network. to operate, so that the second communication network has enough bandwidth to support some necessary command transmission, and to ensure the stability of the UAV flight status and communication status.
  • the pre-stored flight mode can be used, which can reduce the number of signaling pieces received by the second communication network, thereby reducing the data bandwidth requirements for using the second communication network.
  • the method further includes: stopping the current work task, where the current work task includes an image capturing task.
  • the current work tasks may include image capturing tasks, target monitoring tasks, real-time detection tasks, and the like.
  • the above work tasks all require real-time data transmission with the control terminal, and the amount of data to be transmitted is relatively large. At this time, the bandwidth requirements of the second communication network are relatively high.
  • the above-mentioned work tasks are stopped, and only work tasks whose required data transmission amount is less than the preset data amount are performed, thereby reducing the data transmission flow between the UAV and the control terminal.
  • the size of the preset data amount can be set according to the bandwidth of the second communication network, for example, it can be set so that the drone only transmits data whose data amount is not greater than the positioning data.
  • the data transmission flow of the second communication network is reduced by stopping the current work task of the drone, thereby reducing the requirement for using the data bandwidth of the second communication network.
  • a dual-channel control method is provided.
  • the information interaction diagram of the dual-channel control method in this embodiment is shown in FIG. 5 .
  • the communication network includes a first communication network and a second communication network.
  • the dual-channel control method in this embodiment specifically includes the following steps:
  • the first communication network may be interfered at the same time, so that the drone may not be able to receive the command when the control terminal sends the command through the first communication network. Therefore, the user actively switches the first communication network of the control terminal to the second communication network. After the switch, the control terminal sends the positioning switching information through the second communication network, so as to avoid the sending of instructions due to the interference of the first communication network by the anti-UAV equipment. fail.
  • the control terminal sends the communication switching information to the drone through the second communication network.
  • the communication switching information is used to instruct the drone to switch from the first communication network to the second communication network to communicate with the control terminal.
  • the drone switches from the first communication network to the second communication network according to the communication switching information to communicate with the control terminal.
  • the control terminal sends the positioning switching information to the drone through the second communication network.
  • the positioning switching information is used to instruct the positioning data path of the UAV to switch from the first positioning data path to the second positioning data path, and the first positioning data path and the second positioning data path have different positioning modes.
  • the control terminal in order to verify whether the drone is spoofed by Beidou/GNSS, the control terminal sends the positioning switching information through the second communication network, so that the drone switches to the second positioning data path for positioning, so as to verify whether it is spoofed by Beidou/GNSS.
  • Beidou/GNSS spoofing in order to verify whether the drone is spoofed by Beidou/GNSS, the control terminal sends the positioning switching information through the second communication network, so that the drone switches to the second positioning data path for positioning, so as to verify whether it is spoofed by Beidou/GNSS.
  • Beidou/GNSS spoofing Beidou/GNSS spoofing.
  • the drone switches from the first positioning data path to the second positioning data path to perform positioning according to the positioning switching information.
  • the control terminal receives the positioning information obtained by the UAV according to the second positioning data path switched to by the positioning switching information.
  • the switching process of the control terminal may be as shown in FIG. 6 , including:
  • the control terminal starts the drone to make the drone perform the task.
  • the control terminal detects in real time whether the first communication network can communicate with the drone normally. in:
  • the control terminal detects that the first communication network cannot communicate with the UAV normally, the control terminal sends communication switching information to the UAV through the second communication network, informing the UAV to switch from the first communication network to the second communication network.
  • the second communication network is used to communicate with it.
  • the control terminal detects in real time whether the first positioning data path of the UAV can normally realize the real-time positioning of the UAV.
  • the control terminal When the control terminal detects that the first positioning data path of the UAV cannot normally realize the real-time positioning of the UAV, the control terminal sends the positioning switching information to the UAV through the second communication network, notifying that no The man-machine switches from the first positioning data path to the second positioning data path to perform real-time positioning of the UAV; (3-b) When the control terminal detects the first positioning data path of the UAV, the real-time UAV can be normally realized. During positioning, the drone still uses the first positioning data channel to perform real-time positioning of the drone, and continues to detect in real time whether the first positioning data channel of the drone can normally achieve real-time positioning of the drone.
  • the control terminal detects in real time whether the first positioning data path of the UAV can normally realize the real-time positioning of the UAV.
  • the control terminal detects in real time whether the first positioning data path of the UAV can normally realize the real-time positioning of the UAV.
  • the control terminal notifies the UAV to still use the first positioning data path to perform the UAV’s real-time positioning.
  • FIG. 7 is an information interaction diagram of the dual-channel control method provided in Embodiment 4 of the present application.
  • the communication network in the dual-channel control method shown in FIG. 7 includes a first communication network and a second communication network.
  • the method may include:
  • the control terminal When detecting that the control signal sent by the control terminal is not received through the first communication network within a preset time period, the control terminal switches the first communication network to the second communication network.
  • the control terminal automatically switches to the second communication network when it detects that the UAV’s running duration has reached the preset duration. After the switch, the control terminal sends the positioning and switching information through the second communication network, so as to avoid the anti-unmanned aerial vehicle due to the first communication network.
  • the machine equipment interference caused the command sending failure.
  • the control terminal sends the communication switching information to the drone through the second communication network.
  • the communication switching information is used to instruct the drone to switch from the first communication network to the second communication network to communicate with the control terminal.
  • the drone switches from the first communication network to the second communication network according to the communication switching information to communicate with the control terminal.
  • the control terminal sends the positioning switching information to the drone through the second communication network.
  • the positioning switching information is used to instruct the positioning data path of the UAV to switch from the first positioning data path to the second positioning data path, and the first positioning data path and the second positioning data path have different positioning modes.
  • the control terminal in order to verify whether the drone is spoofed by Beidou/GNSS, the control terminal sends positioning switching information through the second communication network, so that the drone uses the second positioning data path for positioning, so as to verify whether it is spoofed by Beidou. /GNSS spoofing.
  • the drone switches from the first positioning data path to the second positioning data path to perform positioning according to the positioning switching information.
  • the control terminal receives the positioning information obtained by the UAV according to the second positioning data path switched to by the positioning switching information.
  • FIG. 8 is an information interaction diagram of the dual-channel control method provided by Embodiment 5 of the present application.
  • the communication network in the dual-channel control method shown in FIG. 8 includes a first communication network and a second communication network.
  • the method may include:
  • the control terminal detects whether the drone is out of synchronization under the first communication network. When the control terminal detects that the drone is out of synchronization under the first communication network, the control terminal switches from the first communication network to the second communication network.
  • the communication network is switched by adding a backup communication network and determining whether the drone is interfered by detecting out-of-synchronization.
  • how the control terminal determines whether the drone is out of synchronization in the first communication network is not limited in this embodiment, and an existing method of determining whether the drone is out of synchronization in the communication process may be used.
  • determining whether the drone is out of synchronization in the first communication network by the control terminal may include: controlling the terminal to determine whether the drone is out of synchronization in the first communication network at the physical layer of the first communication network.
  • control terminal can measure the relevant parameters of the physical layer in the first communication network, and determine whether the drone is out of synchronization in the first communication network according to the relevant parameters. Whether the drone is out of sync in the first communication network is judged by the relevant parameters of the physical layer, and the data processing speed is fast, which improves the speed of judging whether the drone is out of sync.
  • the relevant parameters may include at least one of the following: signal-to-noise ratio, bit error rate, reference signal received power (Reference Signal Receiving Power, R S R P), reference signal reception quality (Reference Signal Receiving Quality, RSRQ), received signal code power (Received Signal Code Power, RSCP), interference signal code power (Interference Signal Code Power, ISCP), etc., differ according to the type of the first communication network.
  • determining whether the drone is out of sync in the first communication network by the control terminal at the physical layer of the first communication network may include: if the bit error rate of the drone is greater than the first If the preset threshold is set, it is determined that the drone is out of synchronization in the first communication network.
  • determining whether the drone is out of sync in the first communication network by the control terminal at the physical layer of the first communication network may include: if within the second preset time period, the bit error rate of the drone is greater than that of the first communication network; With two preset thresholds and the signal-to-noise ratio is greater than the third preset threshold, it is determined that the UAV is out of synchronization in the first communication network.
  • This embodiment does not limit the specific values of the first preset time period, the second preset time period, the first preset threshold, the second preset threshold, and the third preset threshold.
  • the control terminal can also adopt other existing methods that can judge whether the drone is out of synchronization in the communication network at the physical layer of the first communication network.
  • the control terminal sends the communication switching information to the drone through the second communication network.
  • the communication switching information is used to instruct the drone to switch from the first communication network to the second communication network to communicate with the control terminal.
  • the control terminal switches from the first communication network to the second communication network, and notifies the drone to also switch from the first communication network to the second communication network.
  • sending the communication switching information to the UAV by the control terminal through the second communication network includes:
  • the communication switching information is periodically sent to the UAV through the second communication network until the UAV is switched from the first communication network to the second communication network.
  • the control terminal can directly send communication switching information to the UAV periodically through the second communication network, so that the control terminal and the UAV are attached to the second communication network and complete the handshake, so that the control terminal and the UAV can complete the handshake.
  • a low-frequency link heartbeat is maintained between them through the second communication network. Therefore, when the UAV switches from the first communication network to the second communication network again, it does not need to perform the reconstruction process of the physical layer, the data link layer and the network layer, but can directly switch to the established communication network in the second communication network. communication link.
  • the information notification time and switching time are shortened, the seamless switching effect between the control terminal and the drone is improved, and the communication continuity between the control terminal and the drone is ensured.
  • the drone switches from the first communication network to the second communication network according to the communication switching information to communicate with the control terminal.
  • the control terminal sends the positioning switching information to the drone through the second communication network.
  • the positioning switching information is used to instruct the positioning data path of the UAV to switch from the first positioning data path to the second positioning data path, and the first positioning data path and the second positioning data path have different positioning modes.
  • control terminal sends the positioning switching information through the second communication network, so that the UAV uses the second positioning data path for positioning, so that the UAV can also return home smoothly when it is attacked by the anti-UAV equipment.
  • control terminal sends positioning switching information to the UAV through the communication network, including:
  • the control terminal Based on the second sending period, the control terminal periodically sends positioning switching information to the UAV through the communication network until the UAV switches from the first positioning data path to the second positioning data path.
  • the control terminal can directly send the positioning switching information to the UAV periodically through the second communication network, so that the control terminal and the UAV attach to the second communication network and complete the handshake, so that the control terminal and the UAV can complete the handshake.
  • a low-frequency link heartbeat is maintained between them through the second communication network. Therefore, when the UAV switches from the first communication network to the second communication network again, it does not need to perform the reconstruction process of the physical layer, the data link layer and the network layer, but can directly switch to the established communication network in the second communication network. communication link.
  • the information notification time and switching time are shortened, the seamless switching effect between the control terminal and the drone is improved, and the communication continuity between the control terminal and the drone is ensured.
  • the UAV switches from the first positioning data path to the second positioning data path to perform positioning according to the positioning switching information.
  • the control terminal receives the positioning information obtained by the UAV according to the second positioning data path switched to by the positioning switching information.
  • FIG. 9 is an information interaction diagram of the dual-channel control method provided by Embodiment 6 of the present application.
  • the communication network in the dual-channel control method shown in FIG. 9 includes a first communication network and a second communication network.
  • the method may include:
  • the drone detects whether the communication signal transmitted through the first communication network is abnormal. When the drone detects that the communication signal is abnormal, the drone switches from the first communication network to the second communication network.
  • Communication signals include uplink signals and downlink signals. Communication signaling includes both sending and receiving forms.
  • the drone can determine whether to switch the communication network by detecting whether the uplink signal received from the first communication network is abnormal, and switch the communication network when the uplink signal is abnormal, so as to effectively communicate with the control terminal, so as to switch the communication network when the uplink signal is abnormal.
  • the uplink signal of a communication network is interfered by the anti-UAV equipment, it can be disconnected in time.
  • the drone can also determine whether to switch the communication network by detecting whether the downlink signal sent to the first communication network is abnormal, and switch the communication network when the downlink signal is abnormal, so as to effectively communicate with the control terminal to When the downlink signal of the first communication network is interfered by the anti-UAV equipment, it can be disconnected in time.
  • the sensitivity of the signal transmission and the specific range of the frequency deviation during the transmission of the signal are detected. It may include: if the offset of the frequency when transmitting the signal within the first preset time period is greater than the first preset threshold, determining that the uplink signal received or the downlink signal sent by the control terminal through the first communication network is abnormal.
  • control terminal when the control terminal detects whether the uplink signal received or the downlink signal sent through the first communication network is abnormal, it may include: if within the second preset time period, the offset of the frequency that occurs when transmitting the signal is greater than the second If the preset threshold and the sensitivity of signal transmission is greater than the third preset threshold, it is determined that the uplink signal received or the downlink signal sent by the first communication network is abnormal.
  • This embodiment does not limit the specific values of the first preset time period, the second preset time period, the first preset threshold, the second preset threshold, and the third preset threshold.
  • the control terminal may also adopt other existing methods for determining whether the uplink signal received by the first communication network or the downlink signal sent by the first communication network is abnormal.
  • the obtained positioning information is sent to the control terminal through the second communication network, and the control terminal also automatically switches to the second communication network to communicate with the drone.
  • the control terminal sends the positioning switching information to the drone through the second communication network.
  • the positioning switching information is used to instruct the positioning data path of the UAV to switch from the first positioning data path to the second positioning data path, and the first positioning data path and the second positioning data path have different positioning modes.
  • the drone switches from the first positioning data path to the second positioning data path to perform positioning according to the positioning switching information.
  • the control terminal receives the positioning information obtained by the UAV according to the second positioning data path switched to by the positioning switching information.
  • FIG. 10 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application.
  • the drone provided in this embodiment is configured to perform the operations performed by the drone in any of the above method embodiments in FIG. 2 to FIG. 7 .
  • the drone provided in this embodiment may include: a memory 21 , a processor 22 and a transceiver 23 .
  • the memory 21, the processor 22 and the transceiver 23 may be connected by a bus.
  • Memory 21 may include read only memory and random access memory, and provides instructions and data to processor 22 .
  • a portion of memory 21 may also include non-volatile random access memory.
  • the transceiver 23 is used to support the reception and transmission of signals between the drone and the control device. After receiving the information sent by the control device, it can be processed by the processor 22 . The information generated by the processor 22 can also be sent to the control device. Transceiver 23 may include separate transmitters and receivers.
  • the processor 22 may be a CPU, and the processor 22 may also be other general-purpose processors, DSPs, ASICs, FPGAs or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like.
  • a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the memory 21 is used to store program codes
  • the transceiver 23 is used to receive the positioning switching information sent by the control terminal through the communication network; the positioning switching information is used to instruct the positioning data path of the UAV to switch from the first positioning data path to the second positioning data path, and the first positioning data path The positioning mode corresponding to the second positioning data path is different;
  • the processor 22 is used to call the program code, and when the program code is executed, is used to perform the following operations:
  • the positioning is performed by switching from the first positioning data path to the second positioning data path according to the positioning switching information, so as to send the positioning information obtained according to the second positioning data path to the control terminal through the communication network.
  • the memory 21 is used to store program codes.
  • the processor 22 is used to call the program code, and when the program code is executed, is used to perform the following operations:
  • the positioning is performed by switching from the first positioning data path to the second positioning data path according to the positioning switching information, so as to send the positioning information obtained according to the second positioning data path to the control terminal through the communication network.
  • the processor 22 is further configured to switch from the first communication network to the second communication network to communicate with the control terminal according to the communication switching information.
  • the transceiver 23 is configured to receive communication switching information sent by the control terminal through the second communication network; the communication switching information is used to instruct the drone to switch from the first communication network to the second communication network to communicate with the control terminal.
  • the transceiver 23 is further configured to receive the positioning switching information sent by the control terminal through the second communication network.
  • the processor 22 is further configured to detect whether the running duration reaches the preset duration, and when the running duration reaches the preset duration, switch the first communication network to the second communication network; the transceiver 23 is also used to pass The second communication network receives the positioning switching information sent by the control terminal.
  • the processor 22 is further configured to detect whether the uplink signal received through the first communication network is abnormal, and when the uplink signal is abnormal, switch from the first communication network to the second communication network;
  • the transceiver 23 is further configured to receive the positioning switching information sent by the control terminal through the second communication network.
  • the processor 22 is further configured to detect whether the uplink signal received through the first communication network is abnormal, and switch from the first communication network to the second communication network when the uplink signal is abnormal.
  • the transceiver 23 is further configured to receive the positioning switching information sent by the control terminal through the second communication network.
  • the UAV is equipped with a Beidou RDSS module.
  • the Beidou RDSS module is used to form a second positioning data path and/or a second communication network.
  • Beidou RDSS can also communicate through Beidou short messages. Therefore, the Beidou RDSS module can create a second positioning data channel and a second communication network at the same time, which makes the implementation of UAV interference simpler and more effective.
  • Beidou RDSS is the communication method that the control terminal communicates with the satellite through the Beidou short message, and the signal is forwarded by the satellite, so it cannot be interfered by the anti-UAV equipment.
  • FIG. 11 is a schematic structural diagram of a control terminal provided by an embodiment of the present application.
  • the control terminal provided in this embodiment is configured to perform operations performed by the control terminal in any of the above method embodiments in FIG. 2 to FIG. 9 .
  • the control terminal provided by this application may include: a memory 31 , a processor 32 and a transceiver 33 .
  • the memory 31, the processor 32 and the transceiver 33 may be connected by a bus.
  • Memory 31 may include read only memory and random access memory, and provides instructions and data to processor 32 .
  • a portion of memory 31 may also include non-volatile random access memory.
  • the transceiver 33 is used to support the reception and transmission of signals between the drone and the control device. After receiving the information sent by the control device, it can be processed by the processor 32 . Information generated by the processor 32 may also be sent to the control device. Transceiver 33 may include separate transmitters and receivers.
  • the processor 32 may be a CPU, and the processor 32 may also be other general-purpose processors, DSPs, ASICs, FPGAs or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like.
  • a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the memory 31 is used to store program codes.
  • the transceiver 33 is used for sending positioning switching information to the UAV through the communication network.
  • the positioning switching information is used to instruct the positioning data path of the UAV to switch from the first positioning data path to the second positioning data path, and the first positioning data path and the second positioning data path have different positioning modes.
  • the processor 32 is used for calling the program code, and when the program code is executed, is used for performing the following operations:
  • the positioning information obtained by the second positioning data path to which the UAV is switched according to the positioning switching information is received.
  • the memory 31 is used to store program codes.
  • the processor 32 is used for calling the program code, and when the program code is executed, is used for performing the following operations:
  • the positioning information obtained by the second positioning data path to which the UAV is switched according to the positioning switching information is received.
  • the transceiver 33 is adapted to respond to the network switching instruction and switch from the first communication network to the second communication network according to the network switching instruction.
  • the communication switching information is sent to the drone through the second communication network.
  • the communication switching information is used to instruct the drone to switch from the first communication network to the second communication network to communicate with the control terminal.
  • the positioning switching information is sent to the drone through the second communication network.
  • the positioning switching information is used to instruct the positioning data path of the UAV to switch from the first positioning data path to the second positioning data path, and the first positioning data path and the second positioning data path have different positioning modes.
  • the processor 32 is further configured to detect whether the running duration of the drone reaches a preset duration, and when the running duration reaches the preset duration, switch the first communication network to the second communication network.
  • the transceiver 33 is also used for sending communication switching information to the drone through the second communication network;
  • the positioning switching information sent to the drone through the second communication network is the positioning switching information sent to the drone through the second communication network.
  • the processor 32 is further configured to detect whether the drone is out of sync under the first communication network, and when detecting that the drone is out of sync under the first communication network, switch from the first communication network to the second communication The internet.
  • the transceiver 33 is also used for sending communication switching information to the drone through the second communication network;
  • the positioning switching information is sent to the drone through the second communication network.
  • the transceiver 33 is also used for:
  • the communication switching information is periodically sent to the UAV through the second communication network until the UAV is switched from the first communication network to the second communication network.
  • the first sending period is a preset sending period.
  • the transceiver 33 is also used for:
  • the positioning switching information is periodically sent to the UAV through the communication network until the UAV switches from the first positioning data path to the second positioning data path.
  • the second sending period is a preset sending period, which can be set to be the same as the first sending period.
  • control terminal is equipped with a Beidou RDSS module.
  • the Beidou RDSS module is used to form a second positioning data path and/or a second communication network.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM) or the like.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

La présente demande concerne un procédé de commutation à double canal, ainsi qu'un véhicule aérien sans pilote et un terminal de commande. Le procédé comprend les étapes suivantes : un véhicule aérien sans pilote reçoit, au moyen d'un réseau de communication, des informations de commutation de positionnement envoyées par un terminal de commande, les informations de commutation de positionnement servant à indiquer qu'un trajet de données de positionnement du véhicule aérien sans pilote est commuté d'un premier trajet de données de positionnement vers un second trajet de données de positionnement, et les moyens de positionnement correspondant au premier trajet de données de positionnement et au second trajet de données de positionnement étant différents ; et le véhicule aérien sans pilote commute, en fonction des informations de commutation de positionnement, du premier trajet de données de positionnement vers le second trajet de données de positionnement pour le positionnement, puis le terminal de commande reçoit les informations de positionnement obtenues en fonction du second trajet de données de positionnement.
PCT/CN2021/126195 2020-10-29 2021-10-25 Procédé de commutation à double canal, véhicule aérien sans pilote et terminal de commande WO2022089381A1 (fr)

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