Multi-link Fusion Method, Flight Controller and Storage Medium

Abstract

The present application discloses a multi-link fusion method, a flight controller, and a storage medium, which are applied to the field of data transmission technology. The multi-link fusion method includes: receiving a first UDP data packet of a flight controller transmitted through different data links; determining a first target data packet and a corresponding target ground control station according to the first UDP data packet; and sending the first target data packet to the target ground control station, so that the unmanned aerial vehicle and the ground control station can communicate normally through the technical solution of the present application.

Description

Technical Field

[0001] This application relates to the technical field of data transmission, and particularly to a multi-link fusion method, a flight controller, and a storage medium. Background Art

[0002] An unmanned aerial vehicle (UAV) is an unpiloted aircraft controlled by a radio remote control device or a self-contained program control device. The UAV data link is an important part of the UAV system and is the link between the UAV and the ground system. With the development of wireless communication, satellite communication, and wireless network technologies, the performance of the UAV data link has also been greatly improved. Traditional UAV link transmission is point-to-point transmission, and the coexistence of multiple links occurs frequently, increasing the design difficulty at the ground end and being not conducive to modular implementation.

[0003] Currently, the invention patent with the publication number CN112469002A provides a UAV 4G fusion link transmission system. This system integrates multiple transmission links on the aircraft into a 4G transmission module. The 4G module is installed inside the UAV, and the UAV communicates with the UAV ground station through the 4G transmission module, improving the flight safety of the UAV. This patent unifies data with different transmission frequencies to the same frequency through the 4G transmission module inside the UAV and then transmits it to the ground station. The UAV and the ground control station implement single-link transmission. However, when single-link transmission occurs between the UAV and the ground control station, if a failure occurs during flight, it will cause the UAV and the ground control station to be unable to communicate normally. Summary of the Invention

[0004] Embodiments of this application provide a multi-link fusion method, a flight controller, and a storage medium, aiming to solve the problem that when a link failure occurs, single-link transmission causes the UAV and the ground system to be unable to communicate normally.

[0005] Embodiments of this application provide a multi-link fusion method, and the multi-link fusion method includes:

[0006] Receiving a first UDP data packet of a flight controller transmitted through different data links;

[0007] Determining a first target data packet and a corresponding target ground control station according to the first UDP data packet;

[0008] Sending the first target data packet to the target ground control station.

[0009] In an embodiment, the step of determining a first target data packet and a corresponding target ground control station according to the first UDP data packet includes:

[0010] Identifying the first UDP data packet to obtain a first device identifier for sending the first UDP data packet;

[0011] Determine the number of flight controllers according to the first device identifier;

[0012] When the number of flight controllers is less than or equal to a preset threshold, determine a first target data packet from all the first UDP data packets;

[0013] When the number of flight controllers is greater than the preset threshold, determine a first target data packet from all the first UDP data packets according to the number of flight controllers.

[0014] In one embodiment, the step of determining the number of flight controllers according to the first device identifier includes:

[0015] When the first device identifier and the time stamp are the same, it is determined that the number of flight controllers is less than or equal to the preset threshold;

[0016] When the first device identifier and the time stamp are different, it is determined that the number of flight controllers is greater than the preset threshold.

[0017] In one embodiment, the step of sending the first target data packet to the target ground control station includes:

[0018] Determine the remote address and port number of the data link and the local address and port number of the target ground control station;

[0019] Send the first target data packet to the local address and port number of the target ground control station through the remote address and port number of the data link.

[0020] In one embodiment, the aircraft multi-link fusion method further includes:

[0021] Receive a second UDP data packet from the ground control station;

[0022] Determine a second target data packet and a corresponding target flight controller according to the second UDP data packet;

[0023] Send the second target data packet to the corresponding target flight controller through different data links, so as to control the target flight controller with the remote control data in the second target data packet.

[0024] In one embodiment, the second UDP data packet is determined according to the telemetry data in the first UDP data packet; or when a stick command and / or a remote control command is received, the second UDP data packet of the ground control station is determined according to the remote control data corresponding to the stick command and / or the remote control command.

[0025] In one embodiment, the step of determining the second target data packet and the corresponding target flight controller according to the second UDP data packet includes:

[0026] Identifying the second UDP data packet of the ground control station to obtain a second device identifier for sending the second UDP data packet;

[0027] Determining the number of ground control stations according to the second device identifier;

[0028] When the number of ground control stations is equal to a preset threshold, determining a second target data packet from all the second UDP data packets according to the number of ground control stations;

[0029] When the number of ground control stations is greater than a preset threshold, determining a second target data packet from all the second UDP data packets based on a preset screening method.

[0030] In one embodiment, after the step of sending the second target data packet to the corresponding target flight controller through different data links to control the target flight controller with the remote control data in the second target data packet, the method further includes:

[0031] Forwarding the telemetry data in the first target data packet and the remote control data in the second target data packet to a public network or a private network based on any one of a wireless communication network, a wired communication network, or a mobile cellular network.

[0032] In addition, to achieve the above object, the present application further provides a flight controller, which includes: a memory, a processor, and an aircraft multi-link fusion program stored on the memory and executable on the processor. When the aircraft multi-link fusion program is executed by the processor, the steps of the above multi-link fusion method are implemented.

[0033] In addition, to achieve the above object, the present application further provides a computer-readable storage medium, which stores an aircraft multi-link fusion program. When the aircraft multi-link fusion program is executed by a processor, the steps of the above multi-link fusion method are implemented.

[0034] In the technical solution of a multi-link fusion method, a flight controller, and a storage medium provided in an embodiment of the present application, since the first UDP data packets of the flight controller transmitted through different data links are received, and the target data packet and the corresponding target ground control station are determined from all the first UDP data packets transmitted through different data links, and then the target data packet is sent to the target ground control station. Since the present application adopts multiple data links and transmits data packets through the data links, when one of the data links fails, the data packets transmitted by other data links can still be received, thereby realizing the normal communication between the flight controller and the ground control station. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a schematic structural diagram of a flight controller related to the solution of an embodiment of the present application;

[0036] Figure 2 is a schematic flowchart of the first embodiment of the multi-link fusion method of the present application;

[0037] Figure 3 is a schematic flowchart of the second embodiment of the multi-link fusion method of the present application;

[0038] Figure 4 is a schematic flowchart of the third embodiment of the multi-link fusion method of the present application;

[0039] Figure 5 is a schematic structural diagram of the system of the multi-link fusion method of the present application;

[0040] Figure 6 is a schematic diagram of link fusion of the multi-link fusion method of the present application.

[0041] The realization, functional characteristics, and advantages of the purpose of the present application will be further described with reference to the embodiments and the accompanying drawings. The above accompanying drawings are only diagrams of one embodiment and not all of the invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0043] The main solution of the embodiment of the present application is: receiving the first UDP data packets of the flight controller transmitted through different data links; determining the first target data packet and the corresponding target ground control station according to the first UDP data packets; and sending the first target data packet to the target ground control station.

[0044] When there is a single - chain transmission between the current unmanned aerial vehicle (UAV) and the ground control station, if a fault occurs during flight, it will cause the UAV and the ground control station to be unable to communicate normally. For example, a 4G transmission module is set on the aircraft, and data with different transmission frequencies are unified to the same frequency and then transmitted to the ground station. When adopting this solution, when a fault occurs in the link between the ground station and the UAV, the problem of unable to achieve normal communication will occur. However, in this application, a link station is set on the ground system, which can receive the data packets sent by the UAV through different links, process them in the link station, and then send the processed data to the ground control station, so as to realize the normal communication between the flight controller and the ground control station.

[0045] To better understand the above - mentioned technical solution, the exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be completely conveyed to those skilled in the art.

[0046] As Figure 1 shown, Figure 1 is a schematic structural diagram of the hardware operating environment related to the solution of the embodiment of the present application.

[0047] It should be noted that Figure 1 it can be a schematic structural diagram of the hardware operating environment of the flight controller.

[0048] As Figure 1 shown, the flight controller may include: a processor 1001, such as a CPU, a memory 1005, a user interface 1003, a network interface 1004, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard). Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI - FI interface). The memory 1005 may be a high - speed RAM memory or a stable memory (non - volatile memory), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0049] Those skilled in the art can understand that Figure 1 the structure of the flight controller shown in does not constitute a limitation on the flight controller, and it may include more or fewer components than shown in the figure, or combine some components, or have different component arrangements.

[0050] As shown in Figure 1 the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and an aircraft multi-link fusion program. Among them, the operating system is a program that manages and controls the hardware and software resources of the flight controller, and runs the aircraft multi-link fusion program and other software or programs.

[0051] In Figure 1 the flight controller shown, the user interface 1003 is mainly used to connect to the terminal and communicate with the terminal for data; the network interface 1004 is mainly used to connect to the background server and communicate with the background server for data; the processor 1001 can be used to call the aircraft multi-link fusion program stored in the memory 1005.

[0052] In this embodiment, the flight controller includes: a memory 1005, a processor 1001, and an aircraft multi-link fusion program stored on the memory and operable on the processor, where:

[0053] When the processor 1001 calls the aircraft multi-link fusion program stored in the memory 1005, the following operations are performed:

[0054] Receive the first UDP packet of the flight controller transmitted through different data links;

[0055] Determine a first target packet and a corresponding target ground control station according to the first UDP packet;

[0056] Send the first target packet to the target ground control station.

[0057] When the processor 1001 calls the aircraft multi-link fusion program stored in the memory 1005, the following operations are also performed:

[0058] Identify the first UDP packet to obtain a first device identifier for sending the first UDP packet;

[0059] Determine the number of flight controllers according to the first device identifier;

[0060] When the number of flight controllers is less than or equal to a preset threshold, determine a first target packet from all the first UDP packets;

[0061] When the number of flight controllers is greater than the preset threshold, determine a first target packet from all the first UDP packets according to the number of flight controllers.

[0062] When the processor 1001 calls the aircraft multi-link fusion program stored in the memory 1005, the following operations are also performed:

[0063] When the first device identifier is the same as the time stamp, it is determined that the number of flight controllers is less than or equal to a preset threshold;

[0064] When the first device identifier is different from the time stamp, it is determined that the number of flight controllers is greater than the preset threshold.

[0065] When the processor 1001 calls the multi-link fusion program of the aircraft stored in the memory 1005, the following operations are also performed:

[0066] Determine the remote address and port number of the data link and the local address and port number of the target ground control station;

[0067] Send the first target data packet to the local address and port number of the target ground control station through the remote address and port number of the data link.

[0068] When the processor 1001 calls the multi-link fusion program of the aircraft stored in the memory 1005, the following operations are also performed:

[0069] Receive the second UDP data packet from the ground control station;

[0070] Determine the second target data packet and the corresponding target flight controller according to the second UDP data packet;

[0071] Send the second target data packet to the corresponding target flight controller through different data links, so as to control the target flight controller through the remote control data in the second target data packet.

[0072] When the processor 1001 calls the multi-link fusion program of the aircraft stored in the memory 1005, the following operations are also performed:

[0073] The second UDP data packet is determined according to the telemetry data in the first UDP data packet; or, when a stick command and / or a remote control command is received, the second UDP data packet of the ground control station is determined according to the remote control data corresponding to the stick command and / or the remote control command.

[0074] When the processor 1001 calls the multi-link fusion program of the aircraft stored in the memory 1005, the following operations are also performed:

[0075] Identify the second UDP data packet of the ground control station to obtain the second device identifier for sending the second UDP data packet;

[0076] Determine the number of ground control stations according to the second device identifier;

[0077] When the number of the ground control stations is equal to a preset threshold, determine a second target data packet from all the second UDP data packets according to the number of the ground control stations;

[0078] When the number of the flight controllers is greater than a preset threshold, determine a second target data packet from all the second UDP data packets based on a preset screening method.

[0079] When the processor 1001 calls the multi-link fusion program of the aircraft stored in the memory 1005, the following operations are further performed:

[0080] Forward the telemetry data in the first target data packet and the remote control data in the second target data packet to a public network or a private network based on any one of a wireless communication network, a wired communication network, or a mobile cellular network.

[0081] The technical solution of the present application will be introduced below by way of embodiments.

[0082] The first embodiment:

[0083] As Figure 2 shown, in the first embodiment of the present application, the multi-link fusion method of the present application includes the following steps:

[0084] Step S110, receive the first UDP data packet of the flight controller transmitted through different data links.

[0085] In this embodiment, in order to solve the problem that normal communication cannot be achieved when a link between the ground station and the UAV fails. In the present application, a link station is set on the ground system, and data packets sent by the UAV can be received through different links, processed in the link station, and then the processed data is sent to the monitoring seat corresponding to the ground control station, so as to realize normal communication between the flight controller and the ground control station.

[0086] In order to enable normal communication between the ground control station and the flight controller, a link station is set in the ground control station in the present application, and data of different data link frequency bands can be obtained through different data link transmission channels. Refer to Figure 5 which is a schematic diagram of the system structure of the multi-link fusion method of the present application. Due to the adoption of a multi-link redundancy design, in order to simplify the design of the ground control station and facilitate modularization, the data needs to be processed by the link station first and then forwarded to the ground control station. Optionally, after the data of different data link frequency bands is fused by software in the ground control station, it is sent to the monitoring seat corresponding to the ground control station. Similarly, the data sent by the ground station software to the flight controller also needs to be processed by the link station and then forwarded to the uplink multi-link.

[0087] Specifically, the flight controller is the core system for the UAV to complete the entire flight process, including takeoff, in-air flight, mission execution, and return and recovery. The flight controller has the same role for the UAV as the pilot does for a manned aircraft. Generally, the flight controller consists of three main parts: sensors, an on-board computer, and servo-actuating devices, and mainly realizes three functions: UAV attitude stabilization and control, UAV mission equipment management, and emergency control. The flight controller is mainly composed of a gyroscope (for flight attitude perception), an accelerometer, a geomagnetic sensor, a barometric pressure sensor (for roughly controlling the hovering height), an ultrasonic sensor (for precisely controlling the low-altitude height or obstacle avoidance), an optical flow sensor (for precisely determining the horizontal hovering position), a GPS module (for roughly positioning the horizontal position and height), and a control circuit. Its main function is to automatically maintain the normal flight attitude of the UAV. In this application, the status information collected by each sensor is obtained, and the sensor information is sent to the link station in the form of telemetry data for fusion.

[0088] The link station is an intermediate medium connecting the airborne end and the ground end, and is responsible for building an interactive channel for airborne data and ground data. The purpose of setting multiple links in this application is as follows: First, during the flight process, there may be failures. To improve safety, multiple data links are set on the aircraft. If one data link loses connection, other data links can still work normally to ensure normal communication between the flight controller and the ground control station. Second, when there are multiple aircraft, each data link can communicate with different aircraft.

[0089] The first UDP data packet includes the telemetry data of the flight controller, such as the attitude data, position data, sensor status data, working mode, etc. of the aircraft. This application is not limited to the first UDP data packet, and it can also be other types of data packets. The first UDP data packet can be a data packet from the same flight controller transmitted through different data links, or a data packet from different flight controllers transmitted through different data links, etc.

[0090] In an embodiment, when there are multiple flight controllers, the priority of the flight controllers can be preset, and the first UDP data packets of different flight controllers are received in sequence according to the priority.

[0091] In an embodiment, the time interval for each flight controller to send the first UDP data packet can also be preset, and the first UDP data packet of the flight controller is sent to the link station based on this time interval.

[0092] Step S120, determine the first target data packet and the corresponding target ground control station according to the first UDP data packet.

[0093] In this embodiment, the first target data packet is the first UDP data packet, and the first target data packet is determined from the first UDP data packets transmitted from different data links. The target ground control station is used to control the flight controller. Among them, there is at least one ground monitoring seat in the target control station, and each ground monitoring seat is pre-connected to the link station based on the corresponding port number and address, so that the first target data packet can be sent to the monitoring seats corresponding to each target ground control station. Refer to Figure 6 , when the DLS module is started, it obtains configuration information through an XML file. According to the configuration information, it exchanges telemetry data with the flight controller through data links link0, 1ink1, link2, and link3, and performs fusion processing on the data of different links, and then forwards it to the monitoring seats corresponding to the target ground control station through the GCS port, and then the target ground control station displays the corresponding telemetry data.

[0094] In one embodiment, determining the first target data packet and the corresponding target ground control station according to the first UDP data packet specifically includes the following steps:

[0095] Step S121, identify the first UDP data packet to obtain the first device identifier that sent the first UDP data packet;

[0096] Step S122, determine the number of flight controllers according to the first device identifier.

[0097] In this embodiment, the first UDP data packet of the flight controller is parsed by software. Since the first device identifier of the flight controller exists in the first UDP data packet. The number of flight controllers can be determined through this first device identifier.

[0098] In one embodiment, determining the number of flight controllers according to the first device identifier specifically includes the following steps:

[0099] Step S1221, when the first device identifier and the time stamp are the same, it is determined that the number of flight controllers is less than or equal to a preset threshold;

[0100] Step S1222, when the first device identifier and the time stamp are different, it is determined that the number of flight controllers is greater than the preset threshold.

[0101] In this embodiment, the packet header is used to distinguish aircraft, and the time stamp is used to compare the repeatability of data. Identify whether the first device identifier and the time stamp of the first UDP data packet of each flight controller transmitted through different data links are the same. When the first device identifier and the time stamp of the first UDP data packet of the flight controller are the same, it is determined that the number of flight controllers is less than or equal to a preset threshold. When the first device identifier and the time stamp of the first UDP data packet are different, it indicates that there may be multiple flight controllers currently, and the number of flight controllers is greater than the preset threshold.

[0102] Step S123, when the number of the ground control stations is less than or equal to the preset threshold, determine a first target data packet from the UDP data packets of all the flight controllers;

[0103] In this embodiment, the preset threshold can be set according to the actual situation. For example, when the preset threshold is 1, it indicates that there is currently one flight controller sending telemetry data to the ground control station. At this time, the flight controller can transmit the first UDP data packet through multiple data links. Among them, the data link is a downlink data link, that is, the flight controller transmits the first UDP data packet to the target ground control station through different downlink data links. During the transmission of the first UDP data packet to the target ground control station, it will pass through a link station. In this link station, the first UDP data packets of each flight controller transmitted through different data links are identified. The number of flight controllers is determined according to the first device identifier. When the number of flight controllers is less than or equal to the preset threshold, a first target data packet is determined from all the first UDP data packets. Optionally, the first UDP data packets transmitted through different data links are the same, but the frequency bands are different. Therefore, one of the first UDP data packets transmitted through a data link can be retained by software and used as the target data packet. Specifically, the first UDP data packet first received by the link station can be determined as the first target data packet. It is also possible to analyze the received first UDP data packets, judge the integrity of each data in each first UDP data packet, and then determine the first target data packet based on the integrity.

[0104] Step S124, when the number of flight controllers is greater than the preset threshold, determine a first target data packet from all the first UDP data packets according to the number of flight controllers.

[0105] In this embodiment, when the number of device identifiers is greater than a preset threshold, and the preset threshold is 1, when the number of flight controllers is 2, multiple flight controllers transmit through different links. Among them, which flight controller transmits through which downlink can be preset and configured, and the monitoring seat to which the transmission is made to the target control station can also be preset and configured. When the flight data of multiple aircraft is sent down, the first UDP data packets of different flight controllers are transmitted to the target ground control station through the corresponding data links. In the process of transmitting the first UDP data packets of different flight controllers to the target ground control station through the corresponding data links, it passes through a link station. In this link station, since the link station does not know the number of flight controllers, it is necessary to parse the first UDP data packets obtained through different data link transmissions in the link station. After parsing to obtain the number of flight controllers, all the first UDP data packets of the flight controllers are sent to the corresponding monitoring seats according to the corresponding monitoring seat addresses for monitoring.

[0106] In the technical solution of this embodiment, the first UDP data packet is identified to obtain the first device identifier for sending the first UDP data packet; the number of flight controllers is determined according to the first device identifier; when the number of ground control stations is equal to the preset threshold, the first target data packet is determined from all the UDP data packets of the flight controllers; when the number of flight controllers is greater than the preset threshold, the first target data packet is determined from all the first UDP data packets according to the number of flight controllers. This technical solution enables the link station to determine the corresponding data processing method according to the number of device identifiers, thereby enabling the flight controller and the ground control station to communicate normally.

[0107] Step S130, send the first target data packet to the target ground control station.

[0108] In this embodiment, the flight controller collects data to form a first UDP data packet, writes the first UDP data packet to the data link through a data port, and the data link internally realizes data modulation and demodulation to convert the first UDP data packet into a digital signal, and then loads the digital signal onto the transmission frequency band and transmits it through an antenna. After the ground receiving end receives the digital signal of the corresponding frequency band, it demodulates the data and restores it to the first UDP data packet again through ground software. After obtaining the first UDP data packet, the first UDP data packet can be sent to the monitoring seat corresponding to the target ground control station.

[0109] In one embodiment, the first target data packet can also be parsed at the link station to obtain different telemetry data, and the monitoring seats corresponding to the target ground control station can extract the corresponding telemetry data as needed according to the functions of the monitoring seats. For example, assume that the first target control packet includes attitude data and environmental data. The first monitoring seat is used to monitor the attitude data, and the second monitoring seat is used to monitor the environmental data. The attitude data can be sent to the first monitoring seat, and the environmental data can be sent to the second monitoring seat.

[0110] In one embodiment, after the first UDP data packet is sent to the monitoring seat corresponding to the target ground control station, each monitoring seat corresponding to the target ground control station can obtain telemetry data based on the first target data packet and display the telemetry data. The telemetry data can be displayed by classification. It can also map the telemetry data into a graphic curve to achieve an intuitive display effect.

[0111] In one embodiment, sending the first target data packet to the target ground control station specifically includes the following steps:

[0112] Step S131, determine the remote address and port number of the data link and the local address and port number of the target ground control station.

[0113] Step S132, send the first target data packet to the local address and port number of the target ground control station through the remote address and port number of the data link.

[0114] In this embodiment, when the DLS module is started, it obtains configuration information through an XML file. According to the configuration information, it exchanges telemetry data with the flight controller through data links link0, link1, link2, and link3. The configuration information is used to configure different transmission channels, and based on the transmission channels determined by the configuration information, the first target data packet can be sent to the corresponding target ground control. Among them, the configuration information includes the uplink and downlink data link bandwidths, the local address and port number of the data link, the remote address and port number of the data link, the local address and port number of the target ground control station, and the remote address and port number of the target ground control station. For example, the first target data packet is sent to the remote address and port number of the data link through the local address and port number of the data link. Then, the first target data packet is sent to the local address and port number of the target ground control station through the remote address and port number of the data link. Furthermore, the first target data packet can be sent to the remote address and port number of the target ground control station, so as to send the first target data packet to different monitoring seats.

[0115] In the technical solution of this embodiment, a corresponding transmission channel is configured through the addresses and port numbers of the flight controller, the link station, and the target ground control station, so that the first UDP data packet generated by the flight controller can be transmitted based on the corresponding transmission channel, realizing the communication between the flight controller and the ground control station. In the technical solution of the first embodiment, since the first UDP data packets of the flight controller transmitted through different data links are received, the target data packet and the corresponding target ground control station are determined from all the first UDP data packets transmitted through different data links, and then the target data packet is sent to the target ground control station. Since this application uses multiple data links and transmits data packets through the data links, when one of the data links fails, data packets transmitted through other data links can still be received, thus realizing the normal communication between the flight controller and the ground control station.

[0116] Second Embodiment:

[0117] As Figure 3 shown, in the second embodiment of this application, before or after the first embodiment, there is also a multi-link fusion method, including the following steps:

[0118] Step S210: Receive the second UDP data packet from the ground control station.

[0119] In this embodiment, there is at least one monitoring seat in the ground control station. The monitoring seats send the second UDP data packets to the link station according to the corresponding monitoring seat addresses. However, the remote control seat is the seat that can control the aircraft, and only one monitoring seat can exist at the same time. Among them, the DLS module distributes bandwidth and self-configures each ground seat channel, collects remote control data, and sends it to the flight controller through redundant links. That is, the remote control type seats are configured according to the link station and send data to the corresponding seat interfaces of the link station, and then the multi-link can send data to the flight controller.

[0120] In one embodiment, the second UDP data packet is determined according to the telemetry data in the first UDP data packet; or, when the stick command and / or remote control command are received, the second UDP data packet of the ground control station is determined according to the remote control data corresponding to the stick command and / or remote control command.

[0121] Step S220: Determine the second target data packet and the corresponding target flight controller according to the second UDP data packet.

[0122] In this embodiment, the second target data packet is determined according to the second UDP data packet of the ground control station, and the second target data packet is transmitted to the target flight controller through different data links.

[0123] In one embodiment, determining the second target data packet and the corresponding target flight controller according to the second UDP data packet specifically includes the following steps:

[0124] Step S221: Identify the second UDP data packet of the ground control station to obtain the second device identifier sending the second UDP data packet;

[0125] Step S222: Determine the number of ground control stations according to the second device identifier;

[0126] Step S223: When the number of ground control stations is equal to the preset threshold, determine the second target data packet from all the second UDP data packets according to the number of ground control stations;

[0127] Step S224: When the number of flight controllers is greater than the preset threshold, determine the second target data packet from all the second UDP data packets based on a preset screening method.

[0128] In this embodiment, the preset threshold can be set according to the actual situation. For example, when the preset threshold is 1, it means that there is currently one ground control station sending remote control data to the target flight controller. At this time, the ground control station can transmit the second UDP data packet through multiple data links. Among them, the data link is an uplink data link, that is, the ground control station transmits the second UDP data packet to the target flight controller through different uplink data links. During the transmission of the second UDP data packet to the target flight controller, it will pass through a link station. In this link station, the second UDP data packet of the ground control station is identified to obtain the second device identifier sending the second UDP data packet. The number of ground control stations is determined according to the second device identifier. When the number of ground control stations is equal to the preset threshold, the second target data packet is determined from all the second UDP data packets according to the number of ground control stations. When the number of flight controllers is greater than the preset threshold, the second target data packet is determined from all the second UDP data packets based on a preset screening method. The preset screening method can be to send the second UDP data packet of the monitoring seat with a higher priority to the target flight controller according to the priority of each monitoring seat.

[0129] In the technical solution of this embodiment, by identifying the second UDP data packet of the ground control station to obtain the second device identifier that sends the second UDP data packet; determining the number of ground control stations according to the second device identifier; when the number of ground control stations is equal to a preset threshold, determining a second target data packet from all the second UDP data packets according to the number of ground control stations; when the number of flight controllers is greater than a preset threshold, determining a second target data packet from all the second UDP data packets based on a preset screening method, the link station can determine the corresponding data processing method according to the number of device identifiers, so that the flight controller and the ground control station can communicate normally.

[0130] Step S230: Send the second target data packet to the corresponding target flight controller through different data links, so as to control the target flight controller with the remote control data in the second target data packet.

[0131] In this embodiment, the remote control data in the second target data packet includes remote controller command data, ground station event command data, uploaded waypoints, route data, and also includes aircraft configuration data, sensor calibration data, etc.

[0132] According to the above technical solution, in this embodiment, since the second UDP data packet of the ground control station is received; the second target data packet and the corresponding target flight controller are determined according to the second UDP data packet; the second target data packet is sent to the corresponding target flight controller through different data links to control the target flight controller with the remote control data in the second target data packet. Since this application uses multiple data links and transmits data packets through the data links, the flight controller can identify and receive the control instructions of the ground control station, thus realizing normal communication between flight control and the ground control station.

[0133] Third Embodiment:

[0134] As Figure 4 shown, in the third embodiment of this application, the multi-link fusion method of this application includes the following steps:

[0135] Step S210: Receive the second UDP data packet of the ground control station.

[0136] Step S220: Determine the second target data packet and the corresponding target flight controller according to the second UDP data packet.

[0137] Step S230: Send the second target data packet to the corresponding target flight controller through different data links, so as to control the target flight controller with the remote control data in the second target data packet.

[0138] Step S310, forward the telemetry data in the first target data packet and the remote control data in the second target data packet to the public network or private network based on any one of the communication methods of wireless communication network, wired communication network or mobile cellular network.

[0139] In this embodiment, the DLS module can also access the network through wireless WIFI, wired network or mobile cellular network, and forward the telemetry data and remote control data to the public network or private network to realize data access to the network.

[0140] According to the above technical solution, this embodiment realizes the data access to the network for the data transmitted between the ground control station and the flight controller.

[0141] The embodiments of the present application provide embodiments of the multi-link fusion method. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than here.

[0142] Based on the same inventive concept, the embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium stores a multi-link fusion program for an aircraft. When the multi-link fusion program for the aircraft is executed by a processor, it realizes each step of the multi-link fusion of the aircraft as described above, and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0143] Since the computer-readable storage medium provided by the embodiments of the present application is the computer-readable storage medium adopted by the method for implementing the embodiments of the present application, based on the method introduced in the embodiments of the present application, those skilled in the art can understand the specific structure and variations of the computer-readable storage medium, so it will not be elaborated here. Any computer-readable storage medium adopted by the method of the embodiments of the present application belongs to the scope to be protected by the present application.

[0144] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0145] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing device produce means for implementing the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 or means for implementing the functions specified in one block or multiple blocks.

[0146] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including instruction means that implement the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 or means for implementing the functions specified in one block or multiple blocks.

[0147] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 or means for implementing the functions specified in one block or multiple blocks.

[0148] It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present application can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim listing several means, several of these means can be embodied by the same item of hardware. The use of the words first, second, and third, etc. does not denote any order. These words can be interpreted as names.

[0149] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0150] Obviously, those skilled in the art can make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, this application is also intended to include these modifications and variations.

Claims

1. A multi-link fusion method for an aircraft, characterized in that, A link station applied to a ground system, the ground system including the link station and a ground control station, the multi-link fusion method for an aircraft comprising: Receiving a first UDP data packet of a flight controller transmitted via different data links, the different data links corresponding to the same or different flight controllers, the first UDP data packets transmitted via different data links being the same, but having different frequency bands; Determining a first target data packet and a corresponding target ground control station according to the first UDP data packet, wherein the first UDP data packet is identified to obtain a first device identifier for transmitting the first UDP data packet; When the first device identifier and the time stamp are different, it is determined that the number of flight controllers is greater than a preset threshold; When the number of flight controllers is greater than a preset threshold, determining a first target data packet from all the first UDP data packets according to the number of flight controllers; Sending the first target data packet to the target ground control station.

2. The multi-link fusion method for an aircraft according to claim 1, characterized in that, After the step of identifying the first UDP data packet to obtain the first device identifier for transmitting the first UDP data packet, it includes: When the first device identifier and the time stamp are the same, it is determined that the number of flight controllers is less than or equal to a preset threshold; When the number of flight controllers is less than or equal to a preset threshold, determining a first target data packet from all the first UDP data packets.

3. The multi-link fusion method for an aircraft according to claim 1, characterized in that, The step of sending the first target data packet to the target ground control station includes: Determining the remote address and port number of the data link and the local address and port number of the target ground control station; Sending the first target data packet to the local address and port number of the target ground control station via the remote address and port number of the data link.

4. The multi-link fusion method for an aircraft according to claim 1, characterized in that, The multi-link fusion method for an aircraft further includes: Receiving a second UDP data packet from the ground control station; Determining a second target data packet and a corresponding target flight controller according to the second UDP data packet; Sending the second target data packet via different data links to the corresponding target flight controller to control the target flight controller with the remote control data in the second target data packet.

5. The multi-link fusion method for an aircraft according to claim 4, wherein The second UDP data packet is determined according to the telemetry data in the first UDP data packet; or when a stick command and / or a remote control command is received, the second UDP data packet of the ground control station is determined according to the remote control data corresponding to the stick command and / or the remote control command.

6. The multi-link fusion method for an aircraft according to claim 4, wherein The step of determining a second target data packet and a corresponding target flight controller according to the second UDP data packet includes: Identifying the second UDP data packet of the ground control station to obtain a second device identifier for transmitting the second UDP data packet; Determining the number of ground control stations according to the second device identifier; When the number of ground control stations is equal to a preset threshold, determining a second target data packet from all the second UDP data packets according to the number of ground control stations; When the number of ground control stations is greater than a preset threshold, determining a second target data packet from all the second UDP data packets based on a preset screening method.

7. The multi-link fusion method for an aircraft according to claim 4, wherein After the step of sending the second target data packet to the corresponding target flight controller through different data links to control the target flight controller with the remote control data in the second target data packet, the method further includes: Forwarding the telemetry data in the first target data packet and the remote control data in the second target data packet to a public network or a private network based on any one of a wireless communication network, a wired communication network, or a mobile cellular network.

8. A flight controller, characterized in that, The flight controller includes: a memory, a processor, and an aircraft multi-link fusion program stored on the memory and executable on the processor. When the aircraft multi-link fusion program is executed by the processor, the steps of the multi-link fusion method according to any one of claims 1-7 are implemented.

9. A computer-readable storage medium, characterized in that, The storage medium stores an aircraft multi-link fusion program. When the aircraft multi-link fusion program is executed by a processor, the steps of the aircraft multi-link fusion method according to any one of claims 1-7 are implemented.

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