A networked air-ground collaborative multi-station unmanned aerial vehicle (UAV) control seamless handover system

Abstract

This invention discloses a networked, air-ground collaborative, multi-station unmanned aerial vehicle (UAV) control seamless handover system and method. The system includes a UAV, a control station comprising a ground control station and an airborne control station, and a three-node networked communication device. The ground and airborne control stations establish connections with the UAV through this communication device. Based on the control station's geographical location information and uplink communication quality, the UAV calculates in real-time location distance thresholds, communication link quality thresholds, and duration factors to determine handover conditions. If the conditions are met, a handover notification is sent. The control station transmits control authority via the communication device's network port according to the notification. The UAV reports control authority information via wireless telemetry, and the control station updates its display synchronously, achieving seamless handover of UAV control and ensuring continuity and safety in cross-regional operations.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) control technology, and in particular to a networked air-ground collaborative multi-station UAV control seamless handover system and method. Background Technology

[0002] With the rapid development of drone technology, its application scenarios have expanded from single-area operations to complex tasks across regions and over large areas. Traditional drones typically only support single-control-station operation. When the drone exceeds the communication range of the main control station, the main control station malfunctions, or operators need to be rotated, a control gap can easily occur, leading to drone loss of control and mission interruption. While some existing drone technologies support multi-remote remote controller pairing, they only achieve a simple "disconnect-takeover" mode, which has the following drawbacks: First, there is no state pre-synchronization before control handover, and the backup control station cannot know the drone's real-time attitude and mission progress, making it prone to sudden changes in flight attitude due to untimely command connection; second, there is no hierarchical authorization and command conflict arbitration mechanism, which can easily lead to loss of control when multiple control stations issue commands simultaneously; fourth, emergency measures for abnormal handover are inadequate, making it difficult to cope with sudden failures in complex environments. Summary of the Invention

[0003] The main purpose of this application is to provide a networked air-ground collaborative multi-station UAV control seamless handover system and method. The aim is to provide a networked air-ground collaborative multi-station UAV control seamless handover method to achieve low-latency and high-reliability handover of control between multiple control stations, while solving technical problems such as state asynchrony, link interruption, and command conflict during the handover process, and ensuring the continuity and safety of UAV cross-regional operations.

[0004] To achieve the above objectives, this application provides a networked air-ground cooperative multi-station unmanned aerial vehicle (UAV) control seamless handover system, comprising: Unmanned aerial vehicles (UAVs), control stations, and three-node network communication equipment, wherein the control station includes a ground control station and an airborne control station; The ground control station and the air control station respectively establish communication connections with the UAV through a three-node network communication device; The UAV is used to calculate in real time the location distance threshold, communication link quality threshold, and duration factor based on the geographical location information of the control station within the communication link range and the uplink communication quality, so as to comprehensively determine whether the control handover conditions are met; if the control handover conditions are met, a control handover notification is sent to the control station. Ground control stations or air control stations are used to transmit control to drones via three-node network communication equipment in accordance with the control handover notification; Drones are also used to report information about the station with control authority via wireless telemetry ground control stations and air control stations; Ground control stations or air control stations are also used to synchronously update and display remote control stations, enabling a seamless handover of control of the drone.

[0005] Optionally, both the ground control station and the air control station are equipped with an integrated monitoring unit, a command sending unit, and a status feedback unit. The integrated monitoring unit is used to receive and synchronize the telemetry data of the UAV in real time. The instruction sending unit is used to send remote control instructions for the drone; The status feedback unit is used to report the execution status of remote control commands; Optionally, the UAV is equipped with a status awareness module, a control status reporting module, and an emergency protection module; The state awareness module includes: a positioning unit, an attitude sensor, a power monitoring unit, and a link quality detection unit; The positioning unit is used to obtain the geographical location information of the UAV and the control station within the communication link range, and to send it to the integrated monitoring unit based on the telemetry data sent by the three-node network communication equipment. The link quality detection unit is used to collect real-time status data and send it to the integrated monitoring unit based on the telemetry data sent by the three-node network communication equipment. The real-time status data includes the communication signal strength, delay and packet loss rate data between each control station and the UAV. The control status reporting module is used to report the identity information of the UAV's current controlled station to the integrated monitoring unit in real time using a three-node network communication device. The emergency protection module has a built-in loss-of-control protection algorithm, which is used to automatically trigger return to home or autonomous flight mode when communication is interrupted during the handover of control, and to receive emergency commands issued by the flight control computer.

[0006] Optionally, the three-node network communication device includes a UAV link terminal located on the UAV, a ground station link terminal located on the ground station, and an air station link terminal located on the air station. The three-node network communication device is used to transmit link control and measurement data, remote control and telemetry data, and mission data.

[0007] Optionally, the chain control and testing data includes protocol and format control information, resource scheduling information, node management information, command and control instructions, communication quality parameter information, and link status monitoring information. The chain control and testing data is used to realize dynamic management, collaborative scheduling monitoring, and transmission performance evaluation of the data chain.

[0008] Optionally, the ground control station or air control station is also used to transmit the control handover request to the chain control and chain measurement information queue of the ground station link terminal or the air station link terminal via the network port, and to send it to the UAV link terminal via radio waves.

[0009] Optionally, the UAV link terminal is used to obtain the handover instruction from the link control and measurement information, and then close the remote control signal port of the original control station by identifying the link terminal ID, while opening the remote control signal port of the target control station.

[0010] Optionally, the UAV also has a conflict arbitration module, which is used to lock the unique control command source according to a preset priority rule in the event of a link interruption or command conflict during the handover process.

[0011] Furthermore, to achieve the above objectives, this application also provides a method for seamless handover of control of a networked air-ground cooperative multi-station UAV, applied to a networked air-ground cooperative multi-station UAV control seamless handover system, the method comprising: When the ground control station maintains control of the UAV as the master control station, both the ground control station and the air control station simultaneously receive real-time status data sent by the UAV's end status perception unit. The UAV combines the geographical location information of the control station within the communication link range and the uplink communication quality to calculate the location distance threshold, communication link quality threshold and duration factor in real time, so as to comprehensively determine whether the conditions for handover of control are met. When the conditions for triggering the handover of control are met, the ground control station or the air control station manually initiates a handover request command, transmits the handover request command to the air link terminal or the ground station link terminal through the network port, and puts the handover command into the link control and link measurement information queue. The handover command is then sent to the UAV link terminal via radio waves. After obtaining the control handover command from the link control and measurement information, the UAV link terminal closes the remote control signal port of the ground control station or air control station by identifying the link terminal ID, and at the same time opens the remote control signal port of the air control station or ground control station. After the airborne control station completes the takeover of control, the UAV reports the station information to the airborne control station and the ground control station through telemetry data. The airborne control station and the ground control station update and display the remote control station synchronously. If a link interruption or command conflict occurs during the handover process, the drone will lock onto the unique control command source according to the preset priority rules and simultaneously trigger the corresponding emergency protection strategy.

[0012] This application proposes a networked, air-to-ground, multi-station UAV control seamless handover system and method. The system includes a UAV, a control station, and a three-node networked communication device. The control station includes a ground control station and an airborne control station. The ground control station and the airborne control station establish communication connections with the UAV through the three-node networked communication device. The UAV calculates in real time, based on the geographical location information of the control station within the communication link range and the uplink communication quality, to determine whether the control handover conditions are met. If the control handover conditions are met, the UAV sends a control handover notification to the control station. The ground control station or the airborne control station transmits control to the UAV through the three-node networked communication device according to the control handover notification. The UAV also reports the station information to which control belongs via wireless telemetry to the ground control station and the airborne control station. The ground control station or the airborne control station also synchronously updates and displays the remote control station to complete the seamless handover of UAV control. This application achieves seamless control station handover. The backup control station has completed real-time synchronization of the drone's status before taking over, ensuring no delay in command handover after takeover and avoiding issues such as sudden attitude changes. Through hierarchical permission verification and command conflict arbitration mechanisms, unauthorized takeover and command conflicts are prevented, providing rapid backup in case of anomalies and reducing the risk of loss of control. This application allows for dynamic adjustment of the handover threshold, supporting personalized handover needs in different scenarios such as power line inspection, emergency rescue, and logistics delivery, thus improving the system's versatility. Attached Figure Description

[0013] Figure 1 A system structure diagram provided for an embodiment of the networked air-ground collaborative multi-station UAV control seamless handover system of this application; Figure 2 This is a flowchart illustrating an embodiment of the networked air-ground collaborative multi-station UAV control seamless handover system of this application.

[0014] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0015] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0016] The main solution of this application embodiment is: In view of the shortcomings of the prior art, the purpose of this invention is to provide a networked air-ground cooperative multi-station UAV control seamless handover method, realize low-latency and high-reliability handover of control between multiple control stations, and solve technical problems such as state asynchrony, link interruption and command conflict during the handover process, so as to ensure the continuity and safety of UAV cross-regional operation.

[0017] Reference Figure 1The first embodiment of this application provides a networked air-ground cooperative multi-station UAV control seamless handover system, which may include: S10, # Specific Implementation Examples in the Instruction Manual ## Example 1 1. A networked, air-to-ground collaborative, multi-station unmanned aerial vehicle (UAV) control seamless handover system, comprising: Unmanned aerial vehicles (UAVs), control stations, and three-node network communication equipment, wherein the control station includes a ground control station and an airborne control station; The ground control station and the airborne control station establish communication connections with the UAV through three-node network communication equipment; The UAV is used to calculate in real time the location distance threshold, communication link quality threshold, and duration factor based on the geographical location information of the control station within the communication link range and the uplink communication quality, so as to comprehensively determine whether the control handover conditions are met; if the control handover conditions are met, a control handover notification is sent to the control station. Ground control stations or air control stations are used to transmit control to drones via three-node network communication equipment in accordance with the control handover notification; Drones are also used to report information about the station with control authority to ground control stations and air control stations via wireless telemetry; Ground control stations or air control stations are also used to synchronously update and display remote control stations, enabling a seamless handover of control of the drone.

[0018] Specifically, after receiving the handover notification, the control station initiates a control transfer operation, either as the current master control station or the backup control station. It should be noted that the transfer of control is not a direct transmission of control commands. Instead, the relevant handover commands are first transmitted through the control station's network port to the corresponding link terminal of the three-node network communication equipment, and then forwarded to the UAV by that link terminal, ensuring the standardization of the transmission path.

[0019] By using the network port in conjunction with dedicated networking communication equipment to transmit control authority, the loss or interference during command transmission is effectively avoided, ensuring the reliable transmission of control handover commands and providing crucial support for successful handover.

[0020] The control stations are divided into two categories: ground control stations and airborne control stations. The two form a collaborative control architecture to adapt to cross-regional and long-term operation scenarios. Specifically, ground control stations can be deployed in fixed locations such as unmanned aerial vehicle (UAV) airports, while airborne control stations can be mounted on manned aircraft or other aerial platforms. Together with UAVs and three-node network communication equipment, they constitute a complete control handover system.

[0021] Clearly, by setting up two types of control stations with complementary functions, the limitations of traditional single control stations have been broken, providing a hardware foundation for UAVs to break free from communication range restrictions and achieve continuous operation, and solving the problem of control gaps that are prone to occur in traditional single control stations.

[0022] The establishment of the communication connection relies on a dedicated transmission link provided by the three-node network communication equipment, rather than a direct and independent communication between the ground control station, the airborne control station, and the UAV. For example, the communication connection is based on radio wave transmission, and the three-node network communication equipment provides data transmission assurance for this connection, ensuring that the ground control station and the airborne control station can stably acquire relevant data from the UAV.

[0023] This communication connection method, established through dedicated networking equipment, avoids the link chaos problem in traditional multi-control station communication, provides stable support for data transmission during the handover of control, and ensures a smooth handover.

[0024] The drone is the active entity responsible for determining the handover conditions. Specifically, the drone uses its own positioning unit to acquire the geographical location information of the control station within the communication link range, collects uplink communication quality data through the link quality detection unit, and then calculates three core judgment parameters in real time using a preset algorithm. Optionally, when the drone flies to the critical point of the ground control station's communication range, the position distance threshold reaches a preset value, the communication link quality threshold shows a decrease in the ground station's communication quality, and the duration of this state reaches the value corresponding to the duration factor, the handover conditions are determined to be met, and a notification is sent to the relevant control station.

[0025] This proactive multi-parameter integrated judgment mechanism makes the timing of the handover of control more precise, avoiding problems such as communication interruption and task obstruction caused by handover too early or too late, and ensuring the rationality of the handover.

[0026] After the UAV gains control, it will simultaneously transmit information about the station with which it currently holds control to both the ground control station and the airborne control station via wireless telemetry. Specifically, the wireless telemetry uses a transmission protocol adapted to the three-node network communication equipment, and the transmitted information includes a clear identifier of the controlled station, ensuring that both control stations can accurately ascertain the UAV's controlled status.

[0027] Clearly, this two-way reporting mechanism enables information synchronization between control stations, avoids duplicate control or control vacuum caused by information asymmetry, and ensures the orderly coordination of multi-station control.

[0028] After receiving the report on the ownership of the drone, the control station updates the display interface in real time through its integrated monitoring unit. For example, the display interface clearly marks key information such as the current remote control station ID and the handover completion time, allowing operators to intuitively grasp the control status.

[0029] The real-time update display function allows operators to confirm the handover results in a timely manner, avoiding misoperation and ensuring a complete closed loop for seamless handover of control.

[0030] In one embodiment of this application, both the ground control station and the air control station are equipped with an integrated monitoring unit, a command sending unit, and a status feedback unit; the command sending unit is used to send UAV remote control commands; the status feedback unit is used to provide feedback on the execution status of the remote control commands. The integrated monitoring unit is used to receive and synchronize the telemetry data of the UAV in real time. The integrated monitoring unit is the core module of the control station for acquiring the drone's status. The telemetry data it receives covers multiple key dimensions, including the drone's position, attitude, battery level, and link quality. Specifically, this unit continuously receives data through a three-node network communication device and performs real-time synchronization processing to ensure that the drone status displayed by the control station is consistent with the actual status, with deviations controlled within a preset range.

[0031] Clearly, the real-time reception and synchronization function of the integrated monitoring unit solves the pain point that traditional backup control stations cannot know the real-time status of drones, provides an accurate data basis for the handover of control and avoids sudden changes in flight attitude due to unclear status.

[0032] In one embodiment of this application, the operation of the command sending unit is exclusive; the remote control commands sent by the control station can only be responded to by the drone after the control station gains control of the drone. Specifically, when the airborne control station takes over control, it can send commands such as patrol path adjustment and altitude control through this unit, while commands sent by the ground control station that has not gained control will be ignored by the drone.

[0033] To be precise, the unit's directional command transmission mechanism effectively avoids conflicts caused by multiple control stations sending commands simultaneously, ensuring the uniqueness and accuracy of UAV control.

[0034] After executing the remote control command, the drone will send the execution result back to the control station that sent the command via a three-node network communication device. The status feedback unit receives the result and displays or issues an alarm. Optionally, the feedback information includes whether the command was executed successfully, failed, and the reason for the failure, so that the operator can adjust the command in a timely manner.

[0035] The status feedback unit constructs a closed-loop control process of "command sending-execution-feedback", which allows operators to grasp the effect of command execution in real time and improves the controllability and reliability of UAV control.

[0036] In one embodiment of this application, the UAV is equipped with a state perception module, a control status reporting module, and an emergency protection module. The state perception module includes a positioning unit, an attitude sensor, a power monitoring unit, and a link quality detection unit. The positioning unit acquires the geographical location information of the UAV and the control station within the communication link range, and sends it to the integrated monitoring unit based on telemetry data sent by the three-node network communication equipment. The link quality detection unit collects real-time status data and sends it to the integrated monitoring unit based on telemetry data sent by the three-node network communication equipment. The real-time status data includes the communication signal strength, delay, and packet loss rate data between each control station and the UAV. The control status reporting module uses the three-node network communication equipment to report the identity information of the currently controlled station of the UAV to the integrated monitoring unit in real time. The emergency protection module has a built-in loss-of-control protection algorithm, which automatically triggers return-to-home or autonomous flight mode when communication is interrupted during control handover, and receives emergency commands issued by the flight control computer.

[0037] These three modules are the core components for achieving seamless control transfer and safe flight of the drone. They have clear division of labor and work together. The status awareness module is responsible for data collection, the control status reporting module is responsible for information synchronization, and the emergency protection module is responsible for safety backup, jointly ensuring the smooth and safe handover process.

[0038] Through the coordinated operation of the three modules, the shortcomings of traditional UAVs in multi-control station handover scenarios, such as insufficient status perception, delayed information feedback, and weak emergency response capabilities, are made up for, providing core technical support for seamless handover.

[0039] The four units of the state awareness module collect key data from different dimensions of the UAV, forming a comprehensive state awareness system. Specifically, the positioning unit acquires location information, the attitude sensor collects flight attitude data, the power monitoring unit monitors the power status, and the link quality detection unit monitors the communication link status. These four types of data work together to provide a basis for handover condition judgment and flight control.

[0040] Clearly, the multi-dimensional state awareness design ensures that the drone can fully grasp its own and the state of the communication environment, providing complete data support for accurate judgment of the handover of control and avoiding misjudgments caused by missing data.

[0041] The positioning unit uses satellite positioning technology (such as BeiDou and GPS) to acquire precise geographical location information, including not only the UAV's own position but also the position data of the ground control station and the airborne control station. Specifically, this unit integrates the collected position information into telemetry data and simultaneously transmits it to the integrated monitoring unit of the two control stations through a three-node network communication device, ensuring that the control stations can clearly know the relative positional relationships of all parties. The two-way position information provided by the positioning unit provides crucial information for the UAV to determine whether it has exceeded the current control station's communication range and whether a handover of control needs to be initiated, ensuring the accuracy of the handover timing judgment.

[0042] The link quality detection unit monitors the communication link status between the UAV and the two control stations in real time. The collected signal strength, latency, and packet loss rate are the core indicators for evaluating link quality. For example, when the communication signal strength between the UAV and the ground control station is ≤-85dBm and the latency exceeds a preset threshold, it indicates that the link quality has deteriorated and is no longer suitable for maintaining control. The real-time data acquisition function of this unit allows the UAV and the control station to promptly grasp changes in link status, providing a crucial link quality reference for the handover of control and avoiding control failures caused by poor link quality.

[0043] The control status reporting module does not only report information after the handover is completed, but continuously sends the current controlled station ID to the integrated monitoring unit of both control stations in real time. Specifically, the reporting frequency is consistent with the telemetry data transmission frequency, ensuring that the control station can update the controlled status of the UAV in real time and avoid misjudgments by the control station. The real-time control status reporting function realizes information synchronization between multiple control stations, effectively avoiding the risks of unauthorized or duplicate control, and ensuring the orderly collaborative control of multiple stations.

[0044] The emergency protection module is a safety backup component for the UAV. Its built-in loss-of-control protection algorithm has preset response strategies for communication interruption scenarios that may occur during handover. Specifically, when the duration of the communication interruption exceeds a preset threshold, the module automatically triggers either the return-to-home mode (returning to the nearest control station or takeoff point) or the autonomous flight mode (maintaining the current flight status until communication is restored), while reserving an interface to receive emergency avoidance commands issued by the flight control computer.

[0045] Clearly, the emergency protection module addresses the inadequacy of emergency measures in traditional drone handover scenarios, significantly reducing the risk of drone loss of control due to communication interruptions during handover and providing strong protection for flight safety.

[0046] In one embodiment of this application, the three-node network communication device includes a UAV link terminal located on the UAV, a ground station link terminal located on the ground station, and an air station link terminal located on the air station. The three-node network communication device is used to transmit link control and measurement data, remote control and telemetry data, and mission data.

[0047] The three link terminals correspond one-to-one with the UAV, the ground control station, and the airborne control station, forming a three-point interconnected communication architecture. Specifically, the UAV link terminal is integrated into the UAV's communication module, while the ground station link terminal and the airborne station link terminal are deployed in their respective control stations. The three establish a stable communication link via radio waves to achieve synchronous transmission of three types of core data.

[0048] In one embodiment of this application, the chain control and testing data includes protocol and format control information, resource scheduling information, node management information, command and control instructions, communication quality parameter information, and link status monitoring information. The chain control and testing data is used to realize dynamic management, collaborative scheduling monitoring, and transmission performance evaluation of the data chain.

[0049] Specifically, the various types of information contained in the chain control and testing data each perform their respective functions to jointly ensure the normal operation of the three-node network communication equipment. Furthermore, protocol and format control information standardizes the data transmission format, resource scheduling information optimizes the allocation of communication resources, node management information maintains the connection status of the three communication nodes, command and control instructions include key instructions such as the handover of control, and communication quality parameters and link status monitoring information are used for real-time evaluation of transmission performance.

[0050] In one embodiment of this application, the ground control station or air control station is further configured to transmit a control handover request to the chain control and chain measurement information queue of the ground station link terminal or the air station link terminal via a network port, and send it to the UAV link terminal via radio waves.

[0051] Specifically, the transmission of control handover requests follows a fixed path of "network port transmission - queue buffering - radio transmission". After the control station initiates the handover request, it first transmits the request to the corresponding link terminal through its own network port. The link terminal puts the request into a dedicated chain control and chain testing information queue to avoid confusion with other data, and then accurately transmits it to the UAV link terminal via radio waves.

[0052] Undoubtedly, this orderly transmission path and queue management method ensures that control handover requests are transmitted to the drone with priority and accuracy, avoiding handover failures caused by lost requests or excessive transmission delays, and guaranteeing the efficiency of the handover process.

[0053] In one embodiment of this application, the UAV link terminal is used to obtain the handover instruction from the link control and measurement information, and then close the remote control signal port of the original control station by identifying the link terminal ID, while opening the remote control signal port of the target control station. The UAV link terminal is the core component for executing the handover of control. Specifically, after filtering the control handover command from the link control and measurement information, the terminal identifies the original control station (the station currently in control) and the target control station (the station about to take over control) by parsing the link terminal ID in the command. Then, it synchronously performs a port switching operation: closing the remote control signal receiving port of the original control station and opening the remote control signal receiving port of the target control station.

[0054] In one embodiment of this application, the UAV also has a conflict arbitration module, which is used to lock the unique control command source according to a preset priority rule in the event of a link interruption or command conflict during the handover process.

[0055] The conflict arbitration module has pre-defined priority rules that can be set based on factors such as control station type and command urgency. Specifically, when multiple control command sources or command confusion occurs during the handover process due to link interruption, the module locks onto the only valid control command source according to preset rules (such as airborne control stations having higher priority than ground control stations, and emergency commands having the highest priority), ensuring that the UAV only responds to commands sent by that source.

[0056] The conflict arbitration module addresses the shortcomings of traditional multi-control-station scenarios lacking a command conflict arbitration mechanism, effectively avoiding the risk of drone loss of control due to command conflicts, and further enhancing the security and reliability of control handover.

[0057] The second embodiment of this application provides a method for seamless handover of control of a networked air-ground cooperative multi-station UAV, applied to a networked air-ground cooperative multi-station UAV control seamless handover system. The method may include: S101. When the ground control station maintains control over the UAV as the master control station, the ground control station and the air control station simultaneously receive real-time status data sent by the UAV's end status perception unit. S102. The UAV combines the geographical location information of the control station within the communication link range and the uplink communication quality to calculate the location distance threshold, communication link quality threshold and duration factor in real time, so as to comprehensively determine whether the conditions for handover of control are met. S103. When the conditions for triggering the handover of control are met, the ground control station or the air control station manually initiates a handover request command, transmits the handover request command to the air link terminal or the ground station link terminal through the network port, and puts the handover command into the link control and link measurement information queue. The handover command is then sent to the UAV link terminal via radio waves. S104. After obtaining the control handover instruction from the link control and measurement information, the UAV link terminal closes the remote control signal port of the ground control station or air control station by identifying the link terminal ID, and at the same time opens the remote control signal port of the air control station or ground control station. S105. After the airborne control station completes the takeover of control, the UAV reports the station information to the airborne control station and the ground control station through telemetry data. The airborne control station and the ground control station update and display the remote control station synchronously. S106. If a link interruption or command conflict occurs during the handover process, the UAV will lock onto the unique control command source according to the preset priority rules and simultaneously trigger the corresponding emergency protection strategy.

[0058] Specifically, the above steps include: S1: Pre-synchronization stage: The ground control station, as the master control station, maintains control over the UAV. The ground and air control stations can simultaneously receive real-time status data sent by the UAV's status perception unit through the integrated monitoring unit. The UAV, combined with its own geographical location information and the UAV control station within the communication link range, as well as the uplink communication quality, calculates the position distance threshold N, the communication link quality threshold M, and the duration time factor T in real time to make a comprehensive judgment on whether the conditions for the handover of UAV control are met. S2: Handover Activation Decision: When the conditions for handover activation of control are met, the ground control station or the air control station manually initiates a control handover request. S3: Coordinated Takeover Phase: The control handover request is sent to the ground or air link terminal via the network port. The link terminal places the control handover instruction in the chain control and chain test information queue and sends it to the UAV link terminal via radio waves. The UAV link terminal obtains the control handover instruction from the chain control and chain test information. The UAV link terminal closes the ground station / air station remote control signal port by identifying the link terminal ID and simultaneously opens the air station / ground station remote control signal port. The gap period of the remote control instruction during this handover process does not exceed 10ms.

[0059] S4: Handover Confirmation and Information Reporting: After the backup air / ground control station completes the takeover of control, the UAV reports the station to which control belongs via wireless telemetry, and the ground / air station integrated monitoring unit simultaneously updates and displays the remotely controlled station. S5: Emergency backup guarantee: If a link interruption or command conflict occurs during the handover process, the conflict arbitration unit locks the unique control command source according to the preset priority rules, and the emergency protection unit simultaneously triggers the corresponding protection strategy to ensure the flight safety of the UAV.

[0060] To more clearly illustrate the technical solution of the present invention, the implementation methods of the present invention will be described in detail below in conjunction with a specific application scenario (cross-regional power inspection).

[0061] (a) Scene setting After the UAV takes off from the ground and reaches a certain distance, before reaching the critical point of the interaction distance between the UAV and the ground station, a manned aircraft is deployed to the air station. The ground station is deployed at the UAV airport 150km away from the mission area, and the manned aircraft is deployed in the air 100km away from the ground station. When the UAV flies to the critical point of the interaction distance with the ground station, the handover of control must be completed to ensure that the UAV mission is not interrupted.

[0062] (II) System Deployment 1. The unmanned aerial vehicle (UAV) includes a power system, flight control system, navigation system, power management system, mission payload, and UAV link terminal equipment, including status awareness unit, control status reporting unit, and emergency protection unit.

[0063] 2. Both the ground control station and the air control station are equipped with an integrated monitoring unit, a command sending unit, and a status feedback unit; the integrated monitoring unit is used to receive and synchronize the flight status data of the UAV in real time; the command sending unit is used to send remote control commands to the UAV; and the status feedback unit is used to report the status of the remote control commands.

[0064] 3. Interaction trigger threshold: The UAV enters 100km and the link strength of ground station A is ≤-85dBm, while the state synchronization deviation threshold is set to 2%.

[0065] (III) Handover Implementation Process 1. Pre-synchronization: The UAV takes off from the ground station to perform the mission. The ground station maintains control, while the air station receives real-time data such as the UAV's position, attitude, and mission progress through the integrated monitoring unit.

[0066] 2. Handover Activation: When the drone flies to the 100km geofence area, the ground control station or air control station manually initiates a control handover request.

[0067] 3. Coordinated Takeover Phase: The control handover request is sent to the ground or air link terminal via the network port. The link terminal places the control handover command in the chain control and chain test information queue and sends it to the UAV link terminal via radio waves. The UAV link terminal obtains the control handover command from the chain control and chain test information. The UAV link terminal closes the ground station / air station remote control signal port by identifying the link terminal ID and simultaneously opens the air station / ground station remote control signal port. The gap period of the remote control command during this handover process does not exceed 10ms.

[0068] 4. Handover Confirmation and Information Reporting: After the air / ground control station completes the takeover of control, the UAV reports back to the station with control via wireless telemetry. Simultaneously, the integrated monitoring unit of the ground / air station updates the display of the remotely controlled station, indicating the handover of control is complete. The UAV then continues its inspection mission with a range of 100-200km.

[0069] (iv) Implementation Results The total delay of this handover process was 80ms, with no significant fluctuations in the drone's attitude and no interruption to the mission. After the handover was completed, the air station could control the drone in real time to complete subsequent tasks, greatly improving the continuity and efficiency of cross-regional missions.

[0070] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A networked, air-to-ground collaborative, multi-station unmanned aerial vehicle (UAV) control seamless handover system, characterized in that, include: Unmanned aerial vehicles (UAVs), control stations, and three-node network communication equipment, wherein the control station includes a ground control station and an airborne control station; The ground control station and the air control station respectively establish communication connections with the UAV through a three-node network communication device; The UAV is used to calculate in real time the location distance threshold, communication link quality threshold, and duration factor based on the geographical location information of the control station within the communication link range and the uplink communication quality, so as to comprehensively determine whether the control handover conditions are met; if the control handover conditions are met, a control handover notification is sent to the control station. Ground control stations or air control stations are used to transmit control to drones via three-node network communication equipment in accordance with the control handover notification; Drones are also used to report information about the station with control authority via wireless telemetry ground control stations and air control stations; Ground control stations or air control stations are also used to synchronously update and display remote control stations, enabling a seamless handover of control of the drone.

2. The networked air-ground collaborative multi-station UAV control seamless handover system as described in claim 1, characterized in that, Both the ground control station and the air control station are equipped with an integrated monitoring unit, a command transmission unit, and a status feedback unit. The integrated monitoring unit is used to receive and synchronize the telemetry data of the UAV in real time. The instruction sending unit is used to send remote control instructions for the drone; The status feedback unit is used to report the execution status of remote control commands.

3. The networked air-ground collaborative multi-station UAV control seamless handover system as described in claim 1, characterized in that, The drone is equipped with a status awareness module, a control status reporting module, and an emergency protection module. The state awareness module includes: a positioning unit, an attitude sensor, a power monitoring unit, and a link quality detection unit; The positioning unit is used to obtain the geographical location information of the UAV and the control station within the communication link range, and to send it to the integrated monitoring unit based on the telemetry data sent by the three-node network communication equipment. The link quality detection unit is used to collect real-time status data and send it to the integrated monitoring unit based on the telemetry data sent by the three-node network communication equipment. The real-time status data includes the communication signal strength, delay and packet loss rate data between each control station and the UAV. The control status reporting module is used to report the identity information of the UAV's current controlled station to the integrated monitoring unit in real time using a three-node network communication device. The emergency protection module has a built-in loss-of-control protection algorithm, which is used to automatically trigger return to home or autonomous flight mode when communication is interrupted during the handover of control, and to receive emergency commands issued by the flight control computer.

4. The networked air-ground collaborative multi-station UAV control seamless handover system as described in claim 1, characterized in that, The three-node network communication equipment includes a UAV link terminal located on the UAV, a ground station link terminal located on the ground station, and an air station link terminal located on the air station. The three-node network communication equipment is used to transmit link control and measurement data, remote control and telemetry data, and mission data.

5. The networked air-ground collaborative multi-station UAV control seamless handover system as described in claim 4, characterized in that, The chain control and testing data includes protocol and format control information, resource scheduling information, node management information, command and control instructions, communication quality parameter information, and link status monitoring information. The chain control and testing data is used to realize dynamic management, collaborative scheduling monitoring, and transmission performance evaluation of the data chain.

6. The networked air-ground collaborative multi-station UAV control seamless handover system as described in claim 2, characterized in that, The ground control station or air control station is also used to transmit control handover requests to the chain control and chain measurement information queue of the ground station link terminal or the air station link terminal via the network port, and to send them to the UAV link terminal via radio waves.

7. The networked air-ground collaborative multi-station UAV control seamless handover system as described in claim 1, characterized in that, The UAV link terminal is used to obtain the handover instruction from the link control and measurement information, and then close the remote control signal port of the original control station by identifying the link terminal ID, while opening the remote control signal port of the target control station.

8. The networked air-ground collaborative multi-station UAV control seamless handover system as described in claim 1, characterized in that, The drone also has a conflict arbitration module, which is used to lock the unique control command source according to preset priority rules in the event of link interruption or command conflict during the handover process.

9. A method for seamless handover of control of a networked air-ground cooperative multi-station UAV, applied to the networked air-ground cooperative multi-station UAV control seamless handover system as described in claim 1, the method comprising: When the ground control station maintains control of the UAV as the master control station, both the ground control station and the air control station simultaneously receive real-time status data sent by the UAV's end status perception unit. The UAV combines the geographical location information of the control station within the communication link range and the uplink communication quality to calculate the location distance threshold, communication link quality threshold and duration factor in real time, so as to comprehensively determine whether the conditions for handover of control are met. When the conditions for triggering the handover of control are met, the ground control station or the air control station manually initiates a handover request command, transmits the handover request command to the air link terminal or the ground station link terminal through the network port, and puts the handover command into the link control and link measurement information queue. The handover command is then sent to the UAV link terminal via radio waves. After obtaining the control handover command from the link control and measurement information, the UAV link terminal closes the remote control signal port of the ground control station or air control station by identifying the link terminal ID, and at the same time opens the remote control signal port of the air control station or ground control station. After the airborne control station completes the takeover of control, the UAV reports the station information to the airborne control station and the ground control station through telemetry data. The airborne control station and the ground control station update and display the remote control station synchronously. If a link interruption or command conflict occurs during the handover process, the drone will lock onto the unique control command source according to the preset priority rules and simultaneously trigger the corresponding emergency protection strategy.

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