A flight task-based unmanned aerial vehicle route static storage method

Abstract

The application belongs to the field of aviation technology and relates to a flight task-based unmanned aerial vehicle route static storage method. Each frame of route message is numbered, and a corresponding storage space is set for each type of message. When storing the message, the corresponding type is written first, and then an unoccupied space address in the corresponding space is found, and the message is stored in the address. When calling, when a frame of route message is added or deleted, the corresponding message can be directly found according to the corresponding space address for addition or deletion operation. The method realizes static allocation of each message storage space, the storage address does not need to be changed with the current uploading content, and is convenient for query, so that human errors are reduced, the time length is reduced, and the reliability and response speed of the unmanned aerial vehicle are improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of aviation technology, and particularly relates to a static storage method of a UAV route based on a flight task. BACKGROUND

[0002] The route type message is divided into five types, namely, a task message, a route message, a waypoint message, a reroute message and an end message, and details are shown in Table 1. The route type message structure is a building block type structure, and in actual use, the message structure can be cut according to actual needs of the flight task. Figure 1 As shown in Fig. 1, one flight task can contain 1-T frame task messages (T is determined according to the total number of route messages contained in the flight task), the 1-T frame task messages correspond to 1-L route messages, each route message can contain 1-N frame waypoint messages, and each waypoint message can contain 0-C frame reroute messages. Each transmission is ended by an end message. Figure 1

[0003] Table 1 Classification of route type messages received by a certain type of UAV

[0004]

[0005] A complete route type message transmission is generally uploaded to the UAV in the following order: single frame task message (or ∑ task message) → ∑ (route message (∑ waypoint message → ∑ reroute message)) → end message. After receiving the uploaded route type message and passing certain verification, the UAV flight computer needs to store the route type message in the flight computer for flight use.

[0006] The traditional route type message storage adopts a compact storage method based on the uploading order, that is, according to the uploading order, the connected storage space is allocated in sequence for storage. For example, the transmission content contains two task messages, a total of 10 route messages, each route message contains two waypoint messages, and each waypoint message contains two reroute messages. The transmission order is: 1st frame task message → 2nd frame task message → ∑ (Nth route message (∑ all waypoint messages under the Nth route message → ∑ all reroute messages of all waypoints under the Nth route message)) → end message. The storage diagram of this example is shown in Fig. 2. Figure 2 .

[0007] The traditional route type message storage method has the following disadvantages: if the uploaded content is not a complete flight task, that is, a certain frame of route type message needs to be added / deleted, the original storage needs to be moved to update the message according to the specific addition / deletion content (an example of adding a route is shown in Fig. 3), which is tedious, prone to errors and time-consuming; when querying the route / waypoint information of a specified number, the storage address needs to be traversed, which is time-consuming. Figure 3 ​​

[0008] Therefore, a flight task-based unmanned aerial vehicle route static storage method is designed to facilitate query, reduce human error, reduce time consumption, and improve reliability and response speed of the unmanned aerial vehicle. SUMMARY

[0009] The application provides a flight task-based unmanned aerial vehicle route static storage method to solve the problem of complex and time-consuming static storage of route messages in the prior art.

[0010] The technical scheme of the application is a flight task-based unmanned aerial vehicle route static storage method, which comprises the following steps: numbering each frame of route message, separately setting a storage space for each type of message at a storage space, and setting corresponding storage space information in each frame of route message; determining the numbering information contained in each frame of route message, obtaining storage address information; searching for space occupation in the corresponding storage address, finding unoccupied space, obtaining and issuing the unoccupied space address; receiving the space address, storing the corresponding route message in the corresponding storage space, and recording the space address; determining whether a frame of route message needs to be added or deleted, finding the message position according to the space address corresponding to the message, and adding or deleting the message.

[0011] Preferably, the space address information comprises serial number / route number / waypoint number / alteration sequence number information, and when the message content is determined according to the corresponding space address, the serial number / route number / waypoint number / alteration sequence number is used for quick addressing.

[0012] The flight task-based unmanned aerial vehicle route static storage method of the application numbers each frame of route message, sets corresponding storage spaces for each type of message, and when storing the message, first writes the corresponding category, then finds the unoccupied space address in the corresponding space, stores the message in the address, and when calling, directly finds the corresponding message according to the corresponding space address when adding or deleting a frame of route message, and performs the adding or deleting operation. The message storage spaces are statically allocated, the storage address does not need to change with the current upload content, and the query is facilitated, the human error is reduced, the time consumption is reduced, and the reliability and response speed of the unmanned aerial vehicle are improved. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions provided by the application, the following will briefly introduce the drawings. Obviously, the drawings described below are only some embodiments of the application.

[0014] Figure 1 The figure is a schematic diagram of the route message structure in the background art;

[0015] Figure 2Optimized message storage schematic diagram in the background art;

[0016] Figure 3 Optimized route addition schematic diagram in the background art;

[0017] Figure 4 Schematic diagram of the overall process of the present application. DETAILED DESCRIPTION

[0018] For the purpose, technical solution and advantages of the present application, the technical solution in the embodiments of the present application will be described in more detail below in combination with the drawings in the embodiments of the present application.

[0019] A static storage method for UAV routes based on flight tasks, as shown in Figure 4 The method comprises the following steps:

[0020] In step S100, each frame of route message is numbered, and a storage space is separately set for each type of message, and a corresponding storage space information is set in each frame of route message.

[0021] Specifically, a separate message editing unit is set up to number and classify each frame of route message, and a separate storage space is set for each type of message. Generally, the storage space in the aircraft will not be full. If the storage space is full, some messages with long storage time can be exported to free up space.

[0022] This step formulates a fixed storage address for each frame of message, preparing for subsequent search.

[0023] In step S200, the number information contained in each frame of route message is determined, and the storage address information is obtained.

[0024] For example, the task message can be distinguished from 1-T frame according to the frame sequence number, the route message can be distinguished from 1-L route according to the route ID number, the waypoint message can be distinguished from which route and which number (1-N) waypoint under the route according to the route ID number and the waypoint ID number, and the diversion message can be distinguished from which route and which number waypoint under the route and which number (1-C) diversion message according to the route ID number, the waypoint ID number and the diversion sequence number. Therefore, the possible largest flight task can be predicted, and the corresponding maximum number of messages is (T+L×N×C) pieces. A fixed storage address can be specified for these messages to realize static storage.

[0025] In step S300, the space occupation in the corresponding storage address is searched, the unoccupied space is found, and the unoccupied space address is obtained and sent out.

[0026] Preferably, the space address information includes serial number / route number / waypoint number / alternate serial number information, and when the message content is determined, quick addressing is realized according to the serial number / route number / waypoint number / alternate serial number.

[0027] The space occupancy of the corresponding space is searched using the existing searcher.

[0028] In step S400, the space address is received, the corresponding route type information is stored in the corresponding storage space, and the space address is recorded.

[0029] A separate module can be set up for receiving the space address, storing and calling the route type information, so as to ensure the efficiency of message storage and calling.

[0030] In step S500, it is determined whether a frame of route type message needs to be added or deleted, the position of the message is found according to the space address corresponding to the message, and the message is added or deleted.

[0031] According to the order in which the unmanned aerial vehicle reads the stored messages in a flight task, the address space of each type of message is specified, and the storage principle table is shown in Table 2. Once the message content is determined, quick addressing can be realized according to the serial number / route number / waypoint number / alternate serial number.

[0032] When a frame of route type message is added or deleted, it is not necessary to search and move the original message storage, and the corresponding message position can be directly found according to the fixed address to realize the addition or deletion of the message. When the route type message is queried, it is not necessary to search in the stored content, and the fixed address can be directly searched.

[0033] Table 2: Flight task unmanned aerial vehicle route static storage principle table

[0034]

[0035]

[0036] The present application numbers each frame of route type message, sets a corresponding storage space for each type of message, and when storing the message, the corresponding category is first written, and then the unoccupied space address in the corresponding space is found, and the message is stored in the address. When calling, the corresponding message can be directly found according to the corresponding space address when a frame of route type message is added or deleted, and the addition or deletion operation is performed. The static allocation of each message storage space is realized, the storage address does not need to change with the current upload content, and the query is convenient, so as to reduce human errors, reduce the time consumed, and improve the reliability and response speed of the unmanned aerial vehicle.

[0037] Meanwhile, the present application also has the following advantages:

[0038] 1) Reduce the complexity and length of increasing / deleting certain frame route message, reduce human error;

[0039] 2) Reduce the complexity and length of the route message query function;

[0040] 3) Only modify the maximum number of each route message, which can be quickly reused in the unmanned aerial vehicle route storage scene with similar characteristics, and has strong scalability.

[0041] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for storing the static route of a UAV based on a flight task, characterized in that, The application comprises the following steps: numbering each frame of route message, setting a storage space for each type of message at a storage space, and setting corresponding storage space information in each frame of route message; determining the numbering information contained in each frame of route message, and obtaining storage address information; searching for the space occupation in the corresponding storage address, finding unoccupied space, obtaining and sending the unoccupied space address; receiving the space address, storing the corresponding route information to the corresponding storage space, and recording the space address; determining whether a frame of route message needs to be added or deleted, finding the message position according to the space address of the message, and adding or deleting the message; the space address information comprises serial number, route number, waypoint number and reroute serial number information, and when the message content is determined according to the corresponding space address, fast addressing is realized according to the serial number, route number, waypoint number and reroute serial number.

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