Beidou-based unmanned aerial vehicle communication method in weak network area

Abstract

The application discloses a Beidou-based unmanned plane communication method in a weak network area, which comprises the following steps: (1) the unmanned plane judges a network connection condition, if a base station network is connected normally, the unmanned plane communicates with a control center through the base station network; if the base station network is not connected, a short message communication mode is converted, and step (2) is executed; (2) a short message of current condition information of the unmanned plane is generated, and the unmanned plane sends the information in step (2) to a GEO satellite in the form of a short message; (3) the GEO satellite sends the information obtained in step (2) to the control center; (4) the control center receives the information, judges the information, and obtains control information; (5) the control center converts the control information into a short message, sends the short message to the GEO satellite, and sends all the information to a service center; and (6) the unmanned plane receives the short message of the control information of the GEO satellite and acts according to the control information. The application can realize communication in a weak network area, so that the unmanned plane can continue to complete a patrol task.

Description

Technical Field

[0001] This invention relates to unmanned aerial vehicle (UAV) communication technology, specifically a BeiDou-based UAV communication method for areas with weak network coverage. Background Technology

[0002] The BeiDou Navigation Satellite System (BDS) is a global satellite navigation system independently developed by China. It is the third mature satellite navigation system after GPS and GLONASS. BDS consists of three segments: space, ground, and user. It provides high-precision, high-reliability positioning, navigation, and timing services to various users globally, 24 / 7, and has short message communication capabilities. It has initially achieved regional navigation, positioning, and timing capabilities, with positioning accuracy at the decimeter and centimeter level, velocity accuracy of 0.2 m / s, and timing accuracy of 10 nanoseconds.

[0003] Due to the numerous and widespread distribution of power transmission lines, their complex terrain, and harsh natural environments, coupled with issues such as insufficient and unevenly distributed operator communication base stations, achieving full network coverage is difficult. In practice, the problem of some main power transmission line corridors being completely without network service is also prominent. Traditional UAV inspections using network-based RTK high-precision positioning technology cannot utilize networks like Qianxun Location for real-time drone correction in the absence of 4G network signals, hindering autonomous and precise drone inspections. Manual drone operation is time-consuming, labor-intensive, difficult, and risky, failing to achieve high-speed, efficient, and accurate inspections. Therefore, there is an urgent need for a BeiDou-based UAV communication method for areas with weak network coverage, enabling communication in these regions so that UAVs can continue their inspection tasks. Summary of the Invention

[0004] The purpose of this invention is to provide a BeiDou-based UAV communication method for areas with weak network coverage, enabling communication in areas with weak network coverage so that UAVs can continue to complete inspection tasks.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a BeiDou-based unmanned aerial vehicle (UAV) communication system for areas with weak network coverage, comprising a UAV, a GEO satellite, an operations control center, and a service center;

[0006] The drone can communicate with the operation and control center through the base station network and can also send or receive short messages to or from GEO satellites.

[0007] GEO satellites can relay drones and operations control centers;

[0008] The operations control center receives short messages containing the current status information of the UAV, translates them to determine the UAV's next actions, and sends control information to the GEO satellite. The operations control center then sends all the above information to the service center. The operations control center stores and updates the location information and network range of the base station. The current status information includes turning information, meteorological data, location information, noise information, acceleration information, and battery level information. The control information includes information for descent in place, returning along the original route, continuing flight to an area with signal and continuing inspection, and continuing flight to an area with signal without continuing inspection.

[0009] The service center is used to receive and forward information from the operations control center.

[0010] Specifically, the drone is equipped with a high-definition gimbal camera and an image processing and analysis module; the high-definition gimbal camera is used to take high-definition photos of the drone's nose; the image processing and analysis module is used to process the high-definition photos taken by the high-definition gimbal camera and obtain the drone's turning information from the high-definition photos.

[0011] Specifically, the drone also includes a weather instrument, a BeiDou positioning device, a noise information collection device, a BeiDou short message sending / receiving device, an acceleration measurement device, and a battery power measurement device; the weather instrument is used to collect meteorological data of the drone's environment; the BeiDou positioning device is used to locate the current position information of the drone; the noise information collection device is used to collect noise information generated by the drone during its current flight; the short message sending / receiving device is used to send or receive short messages to or from GEO satellites; the acceleration measurement device is used to measure the current acceleration of the drone; and the battery power measurement device is used to measure the current battery power information of the drone.

[0012] In particular, the BeiDou positioning device adopts an RTK module based on satellite-ground integration. In addition to providing high-precision position information, the RTK module can also provide nose pointing information.

[0013] The BeiDou-based UAV communication method in areas with weak network coverage includes the following steps:

[0014] (1) The UAV determines the network connection status. If the connection to the base station network is normal, it communicates with the operation and control center through the base station network; if the connection to the base station network is not possible, it switches to short message communication mode and executes step (2).

[0015] (2) Generate a short message containing the current status information of the UAV. The UAV sends the information from step (2) to the GEO satellite in segments in the form of a short message. The current status information includes turning information, meteorological data, location information, noise information, acceleration information, and battery information.

[0016] (3) The GEO satellite sends the information obtained in step (2) to the operation and control center;

[0017] (4) The operation control center receives information, makes judgments, and obtains control information, including information on descent in place, information on returning along the original route, information on continuing to fly to an area with a signal and continuing to inspect, and information on continuing to fly to an area with a signal and not continuing to inspect.

[0018] (5) The Operations Control Center converts the control information into short messages and sends them to the GEO satellite and sends all information to the Service Center;

[0019] (6) The UAV receives short messages of control information from the GEO satellite and acts in accordance with the control information.

[0020] Specifically, the method by which the operation control center receives information, makes judgments, and obtains control information is as follows:

[0021] A1. The operation control center plans the route for the UAV to travel to the nearest base station's network range based on location information, noise information, acceleration information, battery information, base station location information, and network range, and generates several straight-line driving information commands and turning information commands based on the route; the straight-line driving information commands include the straight-line driving time period and acceleration; the turning information commands include turning angle information, turning time point, and acceleration;

[0022] A2. Determine the drone's environmental condition based on the current situation information and the environmental information assessment method; the drone's environmental condition includes poor drone environment and good drone environment.

[0023] A3. Set a distance threshold for the network range of the drone to the nearest base station. If the distance exceeds the distance threshold and the drone's environment is poor, the control information is to descend in place. If the distance exceeds the distance threshold and the drone's environment is good, the control information is to return along the same route. If the distance does not exceed the distance threshold and the drone's environment is good, the control information is to continue flying to an area with signal and continue inspection. If the distance does not exceed the distance threshold and the drone's environment is poor, the control information is to continue flying to an area with signal and not continue inspection.

[0024] Specifically, when the control information is to continue flying to an area with a signal and continue to inspect information, or to continue flying to an area with a signal but not continue to inspect information, the operation control center will convert several straight-line driving information commands and turning information commands into short messages and send them to the UAV via GEO satellite.

[0025] Specifically, the environmental information determination method involves setting a danger range for each current situation information; setting an influence coefficient for each current situation information based on the actual situation; formulating an influence formula and an influence threshold for all current situation information based on the actual situation and the influence coefficient; the influence threshold is a value determined by experts, obtained by substituting previous situation information into the influence formula, such that exceeding this value would place the drone in an unsafe situation; if any current situation information is within the danger range, the drone's environmental condition is determined to be poor; if none of the current situation information is within the danger range, the value obtained by substituting all current situation information into the influence formula is compared with the influence threshold; if it equals or exceeds the influence threshold, the drone's environmental condition is poor; if it is below the influence threshold, the drone's environmental condition is good.

[0026] The beneficial effects of the present invention are as follows:

[0027] The invention provides a system that enables communication in areas with weak networks. Based on the judgment and control information, the operation and control center can determine whether the drone can continue its inspection, whether it can continue flying, and whether it can still carry out inspections, so that the drone can continue to complete its inspection tasks. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of a BeiDou-based unmanned aerial vehicle (UAV) communication system in areas with weak network coverage.

[0029] Figure 2 A flowchart illustrating a BeiDou-based unmanned aerial vehicle (UAV) communication method in areas with weak network coverage. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0032] It should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use. They are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0033] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0034] like Figure 1 As shown, a BeiDou-based unmanned aerial vehicle (UAV) communication system in areas with weak network coverage includes UAVs, GEO satellites, an operations control center, and a service center.

[0035] The drone can communicate with the operation and control center through the base station network and can also send or receive short messages to or from GEO satellites.

[0036] GEO satellites can relay drones and operations control centers;

[0037] The operations control center receives short messages containing current status information from the UAV, translates them to determine the UAV's next actions, and sends control information to the GEO satellite. The operations control center then forwards all of the above information to the service center. The operations control center stores and updates location information and network range with base stations. Current status information includes turning information, weather data, location information, noise information, acceleration information, and battery level information. Control information includes options for descent in place, return along the original route, continue flying to an area with signal and continue patrolling, and continue flying to an area with signal but not continue patrolling.

[0038] The service center is used to receive and forward information from the operations control center.

[0039] The drone is equipped with a high-definition gimbal camera and an image processing and analysis module. The high-definition gimbal camera is used to capture high-definition photos of the drone's heading. The image processing and analysis module is used to process the high-definition photos captured by the high-definition gimbal camera and obtain the drone's turning information from these photos.

[0040] The drone also includes a weather instrument, a BeiDou positioning device, a noise information collection device, a BeiDou short message sending / receiving device, an acceleration measurement device, and a battery level measurement device. The weather instrument collects meteorological data about the drone's environment. The BeiDou positioning device determines the drone's current location. The noise information collection device collects noise information generated by the drone during its current flight. The short message sending / receiving device sends or receives short messages to or from GEO satellites. The acceleration measurement device measures the drone's current acceleration. The battery level measurement device measures the drone's current battery level.

[0041] The BeiDou positioning device uses an RTK module based on space-ground integration. In addition to providing high-precision position information, the RTK module can also provide nose pointing information.

[0042] like Figure 2 As shown, the BeiDou-based UAV communication method in areas with weak network coverage includes the following steps:

[0043] (1) The UAV determines the network connection status. If the connection to the base station network is normal, it communicates with the operation and control center through the base station network; if the connection to the base station network is not possible, it switches to short message communication mode and executes step (2).

[0044] (2) Generate a short message containing the current situation information of the UAV. The UAV will then send the information from step (2) to the GEO satellite in segments as a short message. The current situation information includes turning information, meteorological data, location information, noise information, acceleration information, and battery level information.

[0045] (3) The GEO satellite sends the information obtained in step (2) to the operation and control center;

[0046] (4) The operation control center receives information, makes judgments, and obtains control information, including information on landing in place, returning along the original route, continuing to fly to an area with a signal and continuing to inspect, and continuing to fly to an area with a signal without continuing to inspect.

[0047] (5) The Operations Control Center converts the control information into short messages and sends them to the GEO satellite and sends all information to the Service Center;

[0048] (6) The UAV receives short messages of control information from the GEO satellite and acts in accordance with the control information.

[0049] The specific method by which the operations control center receives information, makes judgments, and obtains control information is as follows:

[0050] A1. The operations control center plans the route for the drone to travel to the nearest base station's network range based on location information, noise information, acceleration information, battery information, base station location information, and network range. Based on this route, it generates several straight-line travel instructions and turning instructions. The straight-line travel instructions include the time period and acceleration. The turning instructions include the turning angle, turning time, and acceleration.

[0051] A2. Based on the current situation information, determine the drone's environmental condition using the environmental information assessment method. The drone's environmental condition includes poor and good environments.

[0052] A3. Set a distance threshold for the network range of the drone to the nearest base station. If the distance exceeds the distance threshold and the drone's environment is poor, the control information is to descend in place. If the distance exceeds the distance threshold and the drone's environment is good, the control information is to return along the same route. If the distance does not exceed the distance threshold and the drone's environment is good, the control information is to continue flying to an area with signal and continue inspection. If the distance does not exceed the distance threshold and the drone's environment is poor, the control information is to continue flying to an area with signal and not continue inspection.

[0053] When the control information is to continue flying to an area with signal and continue to check information, or to continue flying to an area with signal but not to continue to check information, the operation control center will convert several straight-line driving information commands and turning information commands into short messages and send them to the UAV via GEO satellite.

[0054] The environmental information assessment method involves defining the danger range for each piece of current situation information; setting an impact coefficient for each piece of current situation information based on the actual situation; and formulating an impact formula and threshold for all current situation information based on the actual situation and the impact coefficient. The impact threshold is a value determined by experts, obtained by substituting previous situation information into the impact formula, that exceeds which would place the drone in an unsafe situation. If any piece of current situation information falls within the danger range, the drone's environmental condition is judged as poor. If none of the current situation information falls within the danger range, the value obtained by substituting all current situation information into the impact formula is compared with the impact threshold. If the value equals or exceeds the impact threshold, the drone's environmental condition is considered poor; if it is below the impact threshold, the drone's environmental condition is considered good.

[0055] The above embodiments are exemplary and not restrictive. Therefore, any technical solutions that can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention are included within the scope of the present invention.

Claims

1. A BeiDou-based UAV communication method for areas with weak network coverage, characterized in that: Includes the following steps: (1) The UAV determines the network connection status. If the connection to the base station network is normal, it communicates with the operation and control center through the base station network. If the connection to the base station network fails, switch to short message communication mode and proceed to step (2); (2) Generate a short message containing the current status information of the UAV. The UAV sends the information from step (2) to the GEO satellite in segments in the form of a short message. The current status information includes turning information, meteorological data, location information, noise information, acceleration information, and battery information. (3) The GEO satellite sends the information obtained in step (2) to the operation and control center; (4) The operation control center receives information, makes judgments, and obtains control information, including information on descent in place, information on returning along the original route, information on continuing to fly to an area with a signal and continuing to inspect, and information on continuing to fly to an area with a signal and not continuing to inspect. (5) The Operations Control Center converts the control information into short messages and sends them to the GEO satellite and sends all the information to the Service Center; (6) The UAV receives short messages of control information from the GEO satellite and acts accordingly; The specific method by which the operation control center receives information, makes judgments, and obtains control information is as follows: A1. The operation control center plans the route for the UAV to travel to the nearest base station's network range based on location information, noise information, acceleration information, battery information, base station location information, and network range, and generates several straight-line driving information commands and turning information commands based on the route; the straight-line driving information commands include the straight-line driving time period and acceleration; the turning information commands include turning angle information, turning time point, and acceleration; A2. Determine the drone's environmental condition based on the current situation information and the environmental information assessment method; the drone's environmental condition includes poor drone environment and good drone environment. A3. Set a distance threshold for the network range of the drone to the nearest base station. If the distance exceeds the distance threshold and the drone's environment is poor, the control information is to descend in place. If the distance exceeds the distance threshold and the drone's environment is good, the control information is to return along the same route. If the distance does not exceed the distance threshold and the drone's environment is good, the control information is to continue flying to an area with signal and continue inspection. If the distance does not exceed the distance threshold and the drone's environment is poor, the control information is to continue flying to an area with signal and not continue inspection.

2. The BeiDou-based UAV communication method for weak network areas according to claim 1, characterized in that: When the control information is to continue flying to an area with a signal and continue to inspect the information, or to continue flying to an area with a signal but not to continue to inspect the information, the operation control center will convert several straight-line driving information commands and turning information commands into short messages and send them to the UAV via GEO satellite.

3. The BeiDou-based UAV communication method for weak network areas according to claim 1, characterized in that: The environmental information determination method involves setting a danger range for each current situation information; setting an impact coefficient for each current situation information based on the actual situation; formulating an impact formula and impact threshold for all current situation information based on the actual situation and the impact coefficient; the impact threshold is a value determined by experts by substituting previous situation information into the impact formula, such that exceeding this value puts the drone in an unsafe situation; if any current situation information obtained is within the danger range, the drone's environmental condition is determined to be poor. If none of the current situation information obtained is within the danger range, substitute all the current situation information into the influence formula and compare the value obtained with the influence threshold. If it is equal to or exceeds the influence threshold, the drone environment level is considered to be poor. If the level is below the impact threshold, the drone environment is considered to be good.

4. A BeiDou-based unmanned aerial vehicle (UAV) communication system for areas with weak network connectivity, comprising UAVs, GEO satellites, an operations control center, and a service center; characterized in that: Apply the method described in any one of claims 1-3; The drone can communicate with the operation and control center through the base station network and can also send or receive short messages to or from GEO satellites. GEO satellites can relay drones and operations control centers; The operations control center receives short messages containing the current status information of the UAV, translates them to determine the UAV's next actions, and sends control information to the GEO satellite. The operations control center then sends all the above information to the service center. The operations control center stores and updates the location information and network range of the base station. The current status information includes turning information, meteorological data, location information, noise information, acceleration information, and battery level information. The control information includes information for descent in place, returning along the original route, continuing flight to an area with signal and continuing inspection, and continuing flight to an area with signal without continuing inspection. The service center is used to receive and forward information from the operations control center.

5. The BeiDou-based unmanned aerial vehicle (UAV) communication system for weak network areas according to claim 4, characterized in that: The drone is equipped with a high-definition gimbal camera and an image processing and analysis module; the high-definition gimbal camera is used to take high-definition photos of the drone's nose; the image processing and analysis module is used to process the high-definition photos taken by the high-definition gimbal camera and obtain the drone's turning information from the high-definition photos.

6. The BeiDou-based unmanned aerial vehicle (UAV) communication system for weak network areas according to claim 4, characterized in that: The drone also includes a weather instrument, a BeiDou positioning device, a noise information collection device, a BeiDou short message sending / receiving device, an acceleration measurement device, and a power measurement device; the weather instrument is used to collect meteorological data of the environment in which the drone is located; the BeiDou positioning device is used to locate the current position information of the drone; the noise information collection device is used to collect noise information generated by the drone during its current flight. The short message sending / receiving device is used to send or receive short messages to or from the GEO satellite; the acceleration measuring device is used to measure the current acceleration of the UAV. The power measurement device is used to measure the current power information of the drone.

7. The BeiDou-based unmanned aerial vehicle (UAV) communication system for weak network areas according to claim 6, characterized in that: The BeiDou positioning device uses an RTK module based on satellite-ground integration. In addition to providing high-precision position information, the RTK module also provides nose pointing information.

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