Heterogeneous flying multi-unmanned aerial vehicle scalable launching and command system and method
Patent Information
- Application Number
- CN202610358334.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-03-23
- Publication Date
- 2026-07-10
Smart Images
Figure CN122372572A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of unmanned aerial vehicle (UAV) swarm management technology, and in particular to a scalable launch and command and control system and method for heterogeneous loitering multi-UAV systems. Background Technology
[0002] For radar targets, a passive radar seeker can be installed to create a passive radar-type UAV for radar target missions. As mission environments become increasingly complex, a hybrid passive and active electro-optical seeker is developed to enhance the UAV's ability to identify radar decoys. This seeker relies on image angles to identify targets and can withstand radar shutdown. For moving and time-sensitive targets, an electro-optical seeker is required to perform image recognition and guidance. For missions that do not meet the requirements of saturation targeting, a low-cost UAV is needed that does not carry high-value mission equipment and can achieve target guidance simply by its location. Simultaneously, anti-jamming equipment can be added to the UAV to improve its survivability.
[0003] Based on the above analysis, a single-configuration UAV platform is being upgraded and replaced with multiple heterogeneous UAVs categorized according to mission payloads as requirements change. With the development of swarm scenarios, multi-type heterogeneous UAV swarms are needed to collaboratively operate in complex environments. Summary of the Invention
[0004] The main purpose of this application is to provide a scalable launch and control system and method for heterogeneous loitering multi-UAVs, which aims to solve the problems of poor compatibility and difficulty in expansion of existing systems with heterogeneous UAVs, realize unified management and flexible expansion of multiple UAV models, and meet the unified management and control requirements of civilian UAV clusters.
[0005] To achieve the above objectives, this application provides a scalable launch and control system for heterogeneous loitering multi-UAVs, including a ground control terminal, a UAV deployment platform, and a cluster management software system running on the ground control terminal. The UAV deployment platform includes a chassis, a launch device, a launch box, and a network switch. The launch box is used to load UAVs and is connected to the network switch via a detection cable. The ground control terminal includes a display and control device, which interacts with the network switch of the UAV deployment platform via a network cable. The cluster management software system includes a model identification module, a configuration decoding plugin library, and several functional modules. The model identification module is configured to receive UAV detection data transmitted via the network switch, determine the launch box number of the UAV based on the received data source IP address and a preset launch box number-IP correspondence rule, and parse the protocol format of the detection data to obtain the UAV model and mission payload type within the corresponding number. The functional modules are configured to call the corresponding plugins in the configuration decoding plugin library based on the obtained model and mission payload type to perform self-testing, mission planning, and launch control operations on the heterogeneous UAVs.
[0006] Furthermore, the rule for the correspondence between the transmitter box number and the IP address is as follows: the IP address of the data packet received by the network switch of the UAV deployment platform is divided into four segments, where the third segment corresponds to the column number of the transmitter box and the fourth segment corresponds to the row number of the transmitter box, thereby establishing a one-to-one mapping relationship between the IP address and the physical number of the transmitter box.
[0007] Furthermore, the protocol format of the detection data adopts a general data structure, including a UAV model field, a mission payload type field, a specific parameter field, and a verification field, which are used to identify the UAV model, mission payload type, carrying status data, and data verification mechanism, respectively.
[0008] Furthermore, the functional modules include a mission planning module and a self-test launch module; the mission planning module is configured to display the UAV models of all slots in the current launch box on the software interface; in response to the user's selection of a specific slot, the corresponding mission planning plugin is invoked according to the UAV model corresponding to that slot; after the mission planning file is edited and saved, in response to the user's one-click load command, the local mission planning file is read, the UAV slot information contained in the file name is identified, and the planning data is sent in parallel to the UAVs of the corresponding slots through the network switch.
[0009] Furthermore, the self-testing launch module is configured to respond to the user's one-click self-test command, and to call the corresponding self-testing plugins in parallel according to the model of each UAV, simultaneously send self-testing commands to multiple network IP addresses, and receive the self-testing status feedback from the UAVs; when all self-testing passed positions are selected, in response to the one-click launch command, a launch execution command is sent to the corresponding UAV through the network switch.
[0010] Furthermore, the ground control vehicle also includes a ground telemetry and control terminal for wireless communication with the UAV after takeoff; the command and control software system also includes a waveform analysis module; the ground telemetry and control terminal is configured to receive downlink data packets sent by the UAV's onboard terminal and parse the UAV model field in the data packets; the waveform analysis module is configured to call the corresponding waveform decoding plugin according to the parsed UAV model, convert the radio frequency signal data into downlink status data, and send it to the model identification module for further processing.
[0011] Furthermore, the downlink data packet includes the drone model, drone number, and packaged status data; the model identification module is also configured to identify the drone type and mission payload type based on the downlink status data, and call the corresponding display plugin to display the drone status on the display and control device.
[0012] Furthermore, the configuration decoding plugin library is configured to be extensible: when a new drone model is added, the corresponding new model self-test plugin, task planning plugin, control interface plugin, and waveform analysis plugin are added to the plugin library without modifying the main framework code of the command and control software system.
[0013] Furthermore, to achieve the above objectives, this application also provides a scalable launch and control method for heterogeneous loitering multi-UAVs based on the above system, comprising the following steps: loading UAVs into the launch box of the launch vehicle and connecting the detection cable; the launch vehicle sending the UAV detection data to the ground control vehicle through a network switch; the model identification module of the ground control vehicle receiving the detection data, determining the launch box number according to the data source IP address and the preset number-IP correspondence rules, and parsing the data protocol to obtain the UAV model and payload type; the functional module calling the corresponding plugin in the configuration decoding plugin library according to the identified model and payload type, loading the corresponding task planning interface, self-test process and control logic; responding to the user's control operation, sending instructions to the UAV at the corresponding number through the network switch of the launch vehicle to complete the launch preparation and launch process.
[0014] Furthermore, the method also includes command and control steps after the UAV takes off: the ground control terminal receives downlink data packets sent by the UAV and parses out the UAV model; according to the UAV model, it calls the corresponding waveform decoding plugin to parse the radio frequency signal into status data; according to the status data, it identifies the UAV number and payload type, calls the corresponding display plugin to display the UAV status, and calls the corresponding control plugin to receive the user's uplink control commands; the uplink control commands are packaged and the corresponding waveform plugin is called to convert them into radio frequency signals and send them to the UAV.
[0015] This application proposes a scalable launch and control system and method for heterogeneous loitering multi-UAVs, featuring highly efficient mixed-program control. Through networked interaction between the launch vehicle and the ground control vehicle, combined with automatic mapping rules between IP addresses and serial numbers, this application enables parallel deployment of launch preparation for multiple heterogeneous UAVs, eliminating the need for manual recording of correspondences and significantly shortening launch preparation time. A plug-in-based scalable software architecture (configuration decoding plug-in library) modularizes functions such as control logic, interface display, and waveform analysis. When UAV models iterate or payloads change, only new plug-ins need to be developed and loaded, without refactoring the entire software system, significantly reducing development cycle and maintenance costs. The proposed universal data protocol structure allows for independent upgrades of specific components without affecting the overall protocol framework, solving the problem of high data byte coupling among heterogeneous UAVs. This application provides automated functions such as "one-click loading," "one-click self-test," and "one-click launch," automatically identifying UAV types and scheduling corresponding logic through software, reducing the cognitive load and operational complexity for operators. By dynamically calling waveform decoding plug-ins, this application can be compatible with UAVs of different radio frequency systems within the same ground station system, achieving true integrated management and control of heterogeneous clusters. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the architecture of the scalable launch and command system for heterogeneous loitering multi-UAVs in this application. Figure 2 This is a schematic diagram of the workflow of the model identification module in this application; Figure 3 This is a schematic diagram of the interaction flow of the task planning module in this application; Figure 4 This establishes the mapping between network IP addresses and drone serial numbers. Figure 5 This is a schematic diagram of the UAV detection data structure and downlink data packet format of this application; Figure 6 This is a schematic diagram of the uplink control command packaging and radio frequency signal conversion process in this application.
[0017] 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
[0018] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.
[0019] The main solution of this application embodiment is: to address the problems of poor compatibility and difficulty in expansion of existing UAV command and control systems, a model identification mechanism based on IP address mapping and plug-in functional modules are designed to achieve unified management and flexible expansion of heterogeneous UAVs.
[0020] The present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0021] Reference Figure 1 The first embodiment of this application provides a scalable launch and command system for heterogeneous loitering multi-UAV systems, the system comprising: The system includes a launch vehicle and a command and control software system that runs on a ground control vehicle; like Figure 1 As shown in the diagram, in the system architecture, the ground control vehicle is connected to the network switch of the launch vehicle through the display and control equipment, and the core components of the command and control software system, such as the model identification module and the configuration decoding plug-in library, achieve data interaction through the network.
[0022] The ground control vehicle serves as the data exchange center for the unmanned aerial vehicle (UAV) system, while the launch vehicle is dedicated to the UAV's self-testing and launch. Together, they complete the full-process management and control of heterogeneous UAVs. This achieves functional separation and coordination between launch and command and control, enhancing the professionalism and efficiency of the system's operation.
[0023] The launch vehicle is equipped with a launch box and a network switch. The launch box carries a drone and is connected to the network switch via a detection cable. Each launch box carries one drone, and the detection cable includes a power port and a network port, which are used for powering the drone and transmitting detection and command data, respectively. This allows for independent power supply and data transmission for a single drone, providing the hardware foundation for multi-drone parallel operation.
[0024] The command and control software system establishes a data interaction relationship with the network switch of the launch vehicle to achieve bidirectional transmission of commands and data; The ground control vehicle and the launch vehicle are connected via an external cable through a network port, and data flows bidirectionally between them via a network switch. This enables networked data interaction between the command and control system and the launch vehicle, ensuring the real-time transmission of commands and status data.
[0025] The command and control software system integrates a model identification module, a configuration decoding plugin library, and several functional modules; Each module is a core component of the command and control software, and the plugin library stores functional plugins adapted for various UAVs. Modules call plugins as needed. This enables plug-in management of software functions, laying the software architecture foundation for system scalability.
[0026] In one embodiment of this application, the configuration decoding plugin library is configured in an extensible form: when a new UAV model is added, corresponding new model self-test plugins, task planning plugins, control interface plugins, and waveform analysis plugins are added to the plugin library without modifying the main framework code of the command and control software system. When the UAV platform is upgraded, only the configuration decoding plugins need to be optimized and corresponding functional plugins added, while the main framework code remains unchanged. This significantly shortens the software upgrade development cycle and quickly adapts to the iterative upgrade needs of UAVs.
[0027] The model identification module receives detection data, determines the UAV's location based on IP address and location-IP rules, and parses the protocol to obtain the model and payload type. The model identification module also receives detection data transmitted from the transmitter, first matching the location with the UAV's location and then parsing the data to extract the UAV's core identity information. This enables automatic identification of the UAV's location and identity information, replacing manual recording and reducing human error.
[0028] In one embodiment of this application, the rule for mapping the transmitter box number to the IP address is as follows: the IP address of the data packet received by the transmitter vehicle's network switch is divided into four segments, where the third segment corresponds to the column number of the transmitter box, and the fourth segment corresponds to the row number of the transmitter box, thereby establishing a one-to-one mapping relationship between the IP address and the physical number of the transmitter box. This enables accurate mapping between the IP address and the transmitter box number, providing a clear rule basis for the automatic identification of UAVs.
[0029] In one embodiment of this application, the protocol format of the detection data adopts a general data structure, which includes: a UAV model field to identify the specific model of the UAV; a payload type field to identify the type of mission payload carried by the UAV; a parameter field to carry the status data of different UAV models; and a verification field for status data verification. The general data structure includes fields such as header, model, payload, parameters, and verification, and can adapt to the transmission of detection data for different types of UAVs. This enables the generalization of the detection data protocol, avoiding significant hardware and software adjustments caused by modifications to a single-model protocol.
[0030] Based on the UAV model and payload type, the functional modules call the corresponding plugins from the configuration decoding plugin library to perform self-checks, mission planning, and launch control. Specifically, to adapt to heterogeneous UAVs, the functional modules retrieve plugins from the plugin library as needed, enabling customized management and control operations for different UAVs. This achieves compatible management and control of multiple heterogeneous UAV types, meeting the needs of collaborative operations in heterogeneous UAV swarms.
[0031] In one embodiment of this application, the functional module includes a task planning module; the task planning module is configured to display the UAV models of all slots in the current launch box on the software interface; in response to the user's selection of a specific slot, it calls the corresponding task planning plugin according to the UAV model corresponding to that slot; after the task planning file is edited and saved, in response to the user's one-click load command, it reads the local task planning file, identifies the UAV slot information contained in the file name, and sends the planning data in parallel to the UAVs of the corresponding slots through a network switch. See also Figure 3 The task planning files are named and saved locally according to their position, model, etc. During one-click loading, the information is identified by the filename and the planning data is sent in parallel. This enables one-click batch loading of task planning data from multiple machines, avoiding rework after file loading failures and improving job efficiency.
[0032] In one embodiment of this application, the functional module further includes a self-testing and launching module; the self-testing and launching module is configured to respond to a user's one-click self-test command, concurrently call the corresponding self-testing plugins according to the model of each UAV, synchronously send self-testing commands to multiple network IP addresses, and receive self-testing status feedback from the UAVs; when all UAVs that have passed the self-test are selected, in response to the one-click launching command, send a launching execution command to the corresponding UAV through the network switch. See also Figure 4 The self-test plugin executes status and command determination according to a preset process, and both the self-test and launch commands are sent synchronously and in parallel to the corresponding UAVs via IP addresses. This enables simultaneous and parallel self-testing and launching of multiple UAVs, greatly reducing the preparation and execution time for multi-UAV launches.
[0033] refer to Figure 6 In one embodiment of this application, the ground control vehicle further includes a ground telemetry and control terminal for wireless communication with the UAV after takeoff; the command and control software system further includes a waveform analysis module; wherein, the ground telemetry and control terminal is configured to receive downlink data packets sent by the UAV's onboard terminal and parse the UAV model field in the data packets; the waveform analysis module is configured to, based on the parsed UAV model, call the corresponding waveform decoding plugin to convert the radio frequency signal data into downlink status data and send it to the model identification module for further processing. The ground telemetry and control terminal includes a servo antenna and a transceiver assembly, responsible for receiving and processing radio frequency signals, while the waveform analysis module is dedicated to signal decoding and conversion. This enables effective reception and parsing of the UAV's radio frequency signals after takeoff, ensuring continuous ground monitoring of the UAV.
[0034] In one embodiment of this application, the downlink data packet includes the UAV model, UAV number, and packaged status data. The model identification module is further configured to identify the UAV type and mission payload type based on the downlink status data, and call the corresponding display plugin to display the UAV status on the display and control device. The airborne terminal packages the UAV identity information and status data downlink, and the model identification module performs secondary identification and calls the plugin to display the status. This enables a visual display of the UAV status after takeoff, allowing operators to monitor the UAV's flight operation status in real time.
[0035] The heterogeneous loitering multi-UAV scalable launch and command and control method of this embodiment may include the following execution process: S201. Load the UAV into the launch box of the UAV launch platform and connect the detection cable. The UAV launch platform sends the UAV's detection data to the ground control terminal through a network switch. After the operator completes the UAV loading, connect the detection cable to power the UAV. The UAV launch platform collects the detection data and transmits it to the ground control terminal via network. This completes the preliminary hardware preparation for system operation, providing basic data for subsequent UAV identification and control.
[0036] S202. The ground control terminal's type identification module receives the detection data, determines the launch box number based on the IP address and the number-IP rule, and parses the protocol to obtain the UAV model and mission payload type. The type identification module first matches the UAV's physical number using the IP address, then parses the detection data in a common format to extract the UAV's core information. This achieves automatic identification of the UAV's number and identity information, improving the automation level of pre-launch preparation.
[0037] S203: Based on the identified model and mission payload type, the functional module calls the corresponding plugins in the configuration decoding plugin library, loading the corresponding mission planning interface, self-test process, and control logic. Each functional module calls plugins as needed to load customized operation interfaces and execution logic for UAVs of different models and payloads. This enables the software to adapt to heterogeneous UAVs, ensuring the targetedness and effectiveness of subsequent management and control operations.
[0038] S204. Responding to user control operations, the network switch of the drone deployment platform sends instructions to the corresponding drones to complete launch preparation and the launch process. Users execute planning, self-check, and launch operations in the software interface, and the instructions are accurately sent to the corresponding drones via the network switch, completing the entire operation. This enables integrated management and control of heterogeneous drone clusters, meeting the operational needs of mixed launches and cluster management of multiple drone types.
[0039] Continue to refer to Figure 6In one embodiment of this application, the method further includes: a wireless communication terminal receiving a wireless data transmission unit sent by a drone and parsing the drone model; calling the corresponding waveform decoding plugin according to the drone model to parse the radio frequency signal into status data; identifying the drone number and mission payload type according to the status data, calling the corresponding display plugin to display the drone status, and calling the corresponding control plugin to receive the user's uplink control commands; packaging the uplink control commands and calling the corresponding waveform plugin to convert them into radio frequency signals and send them to the drone. The wireless communication terminal receives and parses the drone's downlink data, displays the status, receives user control commands, packages and converts them, and then sends them uplink to the drone. Therefore, this achieves two-way data interaction and command control between the ground and the drone after takeoff, ensuring the controllability of the drone throughout its operation.
[0040] In another embodiment, the implementation steps are as follows: Step 1: The launch and cluster management system includes a ground control terminal and an UAV deployment platform. Functionally, the ground control terminal consists of three parts: telemetry and control, display and control, and mobile transport. Vehicle chassis and other equipment are used for mobile transport.
[0041] The telemetry and control equipment that performs the telemetry and control functions includes a wireless communication terminal for wireless communication with the UAV. The wireless communication terminal includes a ground servo antenna and a ground transceiver unit.
[0042] The ground servo antenna assembly is installed inside the antenna cabin. When in use, it is driven by an electric lifting mechanism to rise from inside the cabin to the top of the cabin to receive the airborne radio frequency signals of the UAV.
[0043] The ground transceiver unit is used to process radio frequency signals of various frequency bands in the link. It receives and processes radio frequency signals from the antenna, and simultaneously processes uplink signals. Through the display and control module, it can perform antenna signal selection and switching, frequency band settings, etc., according to the frequency band and waveform of the UAV model. The processed data is then transmitted to the display software via a multi-unit server.
[0044] The display and control equipment includes a monitor and a multi-unit server with an integrated network switch, used for data reception and transmission, and serving as the human-machine interface. Status data sent from the ground terminal is displayed on the monitoring software via the display and control module, allowing operators to monitor the drone's status. Control data issued from the monitoring software is forwarded to the drone via the ground data terminal, completing the drone's control.
[0045] The drone delivery platform is used for drone self-testing and launch, and includes a chassis, launch device, launch box, and network switch. Each launch box has a test cable with a power port and a network port. The network data from the test port of each launch box is connected to the network switch of the drone delivery platform. Launch control commands issued by the ground control terminal are transmitted to the drone in the launch box through the network switch, and the status of the drone in the launch box is transmitted to the ground control terminal through the network switch.
[0046] The software modules of the heterogeneous multi-rotor UAV launch and swarm management system include UAV type identification, mission planning, self-test launch, monitoring, waveform analysis, fault analysis, and auxiliary alarms. Each software module loads selected task planning, self-test, monitoring, and waveform analysis plugins based on the specific UAV being launched.
[0047] Step 2: The operator loads the drone into the launch box of the drone delivery platform. One launch box holds one drone. After loading, the operator connects the testing cable inside the launch box to the drone's testing port. Each launch box corresponds to one testing cable. The testing port includes a network port and a power port. The network port is used for transmitting testing data and self-test launch commands, while the power port supplies power to the drone inside the box. One end of the network port of the testing cable connects to the launch box, and the other end connects to the network switch of the drone delivery platform. See the attached diagram for connection details. Figure 2 The network switch is connected to the external network port of the drone delivery platform vehicle. An external cable connects the external port of the drone delivery platform vehicle to the external network port of the ground control terminal. The external network port of the ground control terminal is connected to the network switch in the multi-unit server. Data is transmitted to the software via the network switch, and the software interface is displayed to the operator on a monitor.
[0048] Step 3: The network switch of the drone delivery platform sends the drone loading data from the detection port to the ground control terminal. The network switch of the multi-unit server receives data with the IP address of ,in Column corresponding to the transmitter box number position , The row corresponding to the transmitter box number The corresponding diagram is attached. Figure 4 The detection data of the drone is represented as follows:
[0049] in, For drone models: ,in It is an electro-optical drone. For passive radar-guided UAVs, For example, decoy drones.
[0050] The type of drone payload is indicated as follows: , in, The specific parameters of the drone in the data structure are represented as follows:
[0051] Among them, represents the specific parameters for each type of drone, and represents the data verification code.
[0052] Therefore, the recognition module will input
[0053] Send to configure decoding plugin The decoding plugin calls the corresponding plugin.
[0054] The correspondence between serial numbers and drone models is as follows:
[0055] The task planning module includes a task planning plugin. The self-test module includes a self-test plugin. The monitoring module includes a monitoring plugin. .
[0056] Step 4(1): The "Task Planning" interface of the software monitoring interface displays the model of all UAVs in the current launch box. Clicking the corresponding position triggers the software to respond with a mouse press function. The function selects the launch position based on the correspondence between the launch position and the UAV in step 3. The corresponding drone model The task planning module adjusts the corresponding task planning plugin.
[0057] After the plugin is invoked, the mission planning interface for the selected drone will pop up and be displayed on the screen. Plan the mission for the drone according to the route type planned on the interface. After planning is complete, click "Save". Then name the task planning data as follows:
[0058] The task planning file is saved in the local folder " / misson". Click on each of the drone slots in turn, and repeat the above steps to complete the editing and saving of the planning files for all drone slots.
[0059] Step 4(2): Click the "One-click Send Task Planning File" button. The task planning module selects the task planning files under the folder path in sequence, reads the file name, obtains the corresponding drone's position number, and then sends it to the drone deployment platform through the network switch according to the position number IP address in Step 3.
[0060] After receiving the IP address, the drone delivery platform returns a successful reception flag. At the same time, the drone saves the received mission planning file to the flight control computer locally for subsequent flight use.
[0061] The task planning module repeatedly uploads and sends the data, while simultaneously displaying the receiving indicators from the drone deployment platform, until the software displays all successful reception indicators, at which point the task planning file transmission is complete.
[0062] Step 5: After loading the multi-drone task planning file, begin the self-check process for the drones inside the container. Click the "One-Click Self-Check" button in the self-check module to start the self-check process for all drones in all positions.
[0063] Each position calls the corresponding self-test plugin. , All drones in each location executed their respective self-test plugins, with each plugin following the procedure. The process proceeds sequentially, with the interface displaying the self-check progress of each position. .
[0064] The self-test process includes status determination and command determination. Command determination specifically involves sending a command and then determining whether the status is within a reasonable range based on the feedback status. Status determination specifically involves reading the status of key sensors and determining whether the sensor status is within the normal range. If normal, the self-test is complete. pass.
[0065] The network address where the self-test command is sent is The self-test status sent by the drone is based on the network address corresponding to step 3. Send to self-test plugin .
[0066] Multiple network addresses Multiple UAVs perform self-testing simultaneously and in parallel.
[0067] After the self-test is completed, the operator clicks "One-Click Launch" to execute the launch command. Send to address It can simultaneously send launch commands to all drones in the launch container.
[0068] Step 6 (1): After the UAV is launched, the wireless communication terminal of the ground control terminal communicates with the UAV's... The onboard data terminal begins signal data interaction. The UAV's onboard terminal equipment stores the UAV model and serial number in its local flash memory. The onboard terminal receives downlink status source data from the onboard flight control computer, converts it into wireless signal data, and packages the locally stored UAV information and signal data into a downlink data packet, in the following format: Figure 5 As shown, the specific representation is as follows:
[0069] Then the UAV's onboard terminal transmits the data downlink. After the wireless communication terminal's servo antenna receives the data, it transmits it to the ground transceiver unit, which then begins data parsing.
[0070] Decode the data packet according to its format to determine the drone type. ,root Call the corresponding signal waveform demodulation plugin according to the drone type. , will the original Data parsed as downlink status data Its data structure is the same as the data in step 3. .
[0071] Then, the UAV's onboard terminal sends downlink status data packets to the identification module. The identification module identifies the UAV type, UAV number, and UAV mission payload type, and configures the identification plugin to call the display plugin and control plugin.
[0072] The display plugin is based on the data type from step 3. Parse the specific data corresponding to the data type. Display the status in the plugin interface.
[0073] Step 6(2): The control plugin invoked according to step 6(1) The control interface is presented to the operator. When the operator clicks the control command, they follow the instructions in the appendix. Figure 5 The format packages specific instructions into drone control commands. The specific parameters of the drone in step 3. The structure is consistent, and it is represented as follows:
[0074] in, Indicates the instruction type. This refers to specific instructions for the corresponding type of drone. Then the control module will... Insert uplink control data packet In Chinese, this is specifically expressed as:
[0075] The control module sends the uplink control data packets of each UAV to the wireless communication terminal. The wireless communication terminal parses the UAV signal and number, and then converts the data into signal data by calling the waveform plugin according to the method in step 6 (1). The specific packaging structure is shown below. According to the terminal, the ground data terminal analyzes... The data includes the drone signal and number, and then the data is processed according to step 6 (1) by calling the waveform plugin. Data converted into signal data The specific packaging structure is as follows:
[0076] The ground terminal antenna will transmit uplink control link data Send to the drone, and the drone's onboard terminal reads it. , If the drone model number is determined to match the information stored on the onboard terminal... and drone number If they match, then the analysis is complete. The uplink control data packet is sent to the flight control computer to complete the uplink command transmission of the UAV.
[0077] Step 7: If the unmanned platform undergoes sensor equipment updates, modify the configuration decoding plugin, incorporating the newly added models and plugin types. Install the new plugin in the software, adding calls to the corresponding plugins in the identification module, task planning module, self-test and launch module, and display and control devices. These plugins include self-test plugins, display plugins, control plugins, task planning plugins, waveform analysis plugins, etc. This allows for subsequent iterative upgrades without altering the main software code framework or modifying existing plugins, thus expanding software capabilities. This enables rapid expansion of launch and cluster management capabilities.
[0078] 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 scalable launch and command system for heterogeneous loitering multi-UAV systems, characterized in that, include: The drone deployment platform and the cluster management software system running on the ground control terminal; The drone deployment platform is equipped with a launch box and a network switch. The launch box is used to load drones and is connected to the network switch via a detection cable. The cluster management software system interacts with the network switch of the drone deployment platform. The cluster management software system includes a model identification module, a configuration decoding plugin library, and several functional modules; The model identification module is configured to receive UAV detection data transmitted via the network switch, determine the UAV's transmitter box number based on the received data source IP address and a preset transmitter box number-IP correspondence rule, and parse the protocol format of the detection data to obtain the UAV model and mission payload type within the corresponding number. The functional module is configured to call the corresponding plugin in the configuration decoding plugin library according to the acquired model and payload type, so as to perform self-testing, mission planning and launch control operations on the heterogeneous UAV.
2. The scalable launch and command system for heterogeneous loitering multi-UAVs according to claim 1, characterized in that, The rule for mapping the transmitter box number to the IP address is as follows: The IP address of the data packets received by the network switch of the drone delivery platform is divided into four segments. The third segment corresponds to the column number of the launch box, and the fourth segment corresponds to the row number of the launch box, thereby establishing a one-to-one mapping relationship between the IP address and the physical number of the launch box.
3. The scalable launch and command system for heterogeneous loitering multi-UAVs according to claim 1, characterized in that, The protocol format of the detection data adopts a general data structure, which includes: The drone model field is used to identify the specific model of the drone; The mission payload type field is used to identify the type of mission payload carried by the UAV; The parameter field is used to carry status data for different drone models; The validation field is used for validating status data.
4. A scalable launch and command system for heterogeneous loitering multi-UAVs according to claim 1, characterized in that, The functional modules include a task planning module; The task planning module is configured to display the UAV models of all slots in the current launch box on the software interface; In response to the user's selection of a specific number, the corresponding task planning plugin is invoked based on the drone model corresponding to that number. After the mission planning file is edited and saved, in response to the user's one-click load command, the local mission planning file is read, the drone location information contained in the file name is identified, and the planning data is sent in parallel to the corresponding drone location through the network switch.
5. A scalable launch and command system for heterogeneous loitering multi-UAVs according to claim 1, characterized in that, The functional modules also include a self-testing emission module; The self-test transmission module is configured to respond to the user's one-click self-test command, and to call the corresponding self-test plugins in parallel according to the model of each UAV, to send self-test commands to multiple network IP addresses simultaneously, and to receive the self-test status feedback from the UAV. When all self-tested positions are selected, in response to the one-click launch command, a launch execution command is sent to the corresponding drone position via the network switch.
6. A scalable launch and command system for heterogeneous loitering multi-UAVs according to claim 1, characterized in that, The ground control terminal also includes a wireless communication terminal for communicating wirelessly with the UAV after it takes off. The cluster management software system also includes a waveform analysis module; The wireless communication terminal is configured to receive wireless data transmission units sent by the airborne terminal of the UAV and parse the UAV model field in the data packets. The waveform analysis module is configured to call the corresponding waveform decoding plugin based on the analyzed drone model, convert the radio frequency signal data into downlink status data, and send it to the model identification module for further processing.
7. A scalable launch and command system for heterogeneous loitering multi-UAVs according to claim 6, characterized in that, The wireless data transmission unit includes the drone model, drone number, and packaged status data; The model identification module is also configured to identify the drone type and mission payload type based on downlink status data, and call the corresponding display plugin to display the drone status on the display and control device.
8. A scalable launch and command system for heterogeneous loitering multi-UAVs according to claim 1, characterized in that, The configuration decoding plugin library is configured to add corresponding new model self-test plugins, task planning plugins, control interface plugins, and waveform analysis plugins to the plugin library when a new drone model is added, without modifying the main framework code of the cluster management software system.
9. A scalable launch and control method for heterogeneous loitering multi-UAVs based on the system described in any one of claims 1-8, characterized in that, include: The drone is loaded into the launch box of the drone delivery platform and connected to the detection cable. The drone delivery platform sends the detection data of the drone to the ground control terminal through a network switch. The ground control terminal's model identification module receives the detection data, determines the transmitter box number based on the data source IP address and the preset number-IP correspondence rules, and parses the data protocol to obtain the UAV model and mission payload type. Based on the identified model and load type, the functional module calls the corresponding plugin in the configuration decoding plugin library and loads the corresponding task planning interface, self-test process and control logic. In response to user control operations, instructions are sent to the corresponding drones via the network switch of the drone deployment platform to complete launch preparation and launch procedures.
10. The method according to claim 9, characterized in that, Also includes: The wireless communication terminal receives the wireless data transmission unit sent by the drone and deciphers the drone model. The corresponding waveform decoding plugin is invoked according to the drone model to parse the radio frequency signal into status data; The drone number and payload type are identified based on the status data. The corresponding display plugin is called to show the drone status, and the corresponding control plugin is called to receive the user's uplink control commands. The uplink control commands are packaged and converted into radio frequency signals by the corresponding waveform plugin and sent to the drone.