Unmanned aerial vehicle positioning data communication method, system and device based on multi-habitat platform

Abstract

The present application relates to the technical field of network communication, and especially relates to a kind of unmanned plane positioning data communication method, system and device based on multi-habitat platform, method includes the following steps: unmanned plane and first platform establish wireless communication link;First platform sends the IP address of first platform to unmanned plane, and unmanned plane records the IP address of first platform;Unmanned plane sends RTK data request instruction, and instruction contains the IP address of first platform;Platform received instruction compares the IP address of first platform, judges whether the IP address of first platform is same with local IP address;If same, then forward the RTK data of this platform to unmanned plane;If different, establish the communication connection of first platform corresponding to the IP address of first platform, and forward instruction to first platform, and first platform forwards the RTK data of this platform to platform received instruction, and platform forwards RTK data to unmanned plane.In the present application, unmanned plane is always in fixed solution state, guarantees the flight accuracy of unmanned plane.

Description

Technical Field

[0001] This invention relates to the field of network communication technology, and in particular to a method, system and device for unmanned aerial vehicle (UAV) positioning and data communication based on a multi-purpose platform. Background Technology

[0002] In recent years, drones have become increasingly popular in the power grid inspection industry. They can carry high-definition visible light or infrared camera systems, allowing them to easily access power grid equipment that is inaccessible to inspection personnel for inspection and patrol. They can also be used for power grid equipment mapping and anomaly risk analysis.

[0003] In power line inspection, the distances are generally quite long, but drones have limited flight range. Therefore, a roosting platform is deployed at intervals to communicate with the drone. By deploying multiple platforms, the drone can fly a considerable distance. Each roosting platform is equipped with an RTK (Real-Time Kinematic) module to generate differential data and send it to the drone.

[0004] When a drone flies within the range of the first platform, it receives differential data from that platform, allowing it to obtain a fixed solution and high positioning accuracy. However, when the drone flies from the first platform to the second, the differential data it receives is from the second platform. Because the base station (the source of the differential data) has changed, it will take the drone some time to reach a fixed solution. This time may result in a differential solution or a single-point solution, which is unacceptable for scenarios requiring high reliability, such as autonomous drone flight.

[0005] The information disclosed in this background section is intended only to enhance the understanding of the general background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] This invention provides a method, system, and device for unmanned aerial vehicle (UAV) positioning and data communication based on a multi-habitat platform, thereby effectively solving the problems in the background art.

[0007] To achieve the above objectives, the technical solution adopted by this invention is: a UAV positioning data communication method based on a multi-purpose platform, comprising the following steps:

[0008] The drone establishes a wireless communication link with the first platform, which is the first platform in the multi-habited platform where the drone resides;

[0009] The first platform sends its IP address to the drone, and the drone records the IP address of the first platform;

[0010] During flight, the UAV establishes a wireless communication link with one of the platforms and sends an RTK data request command to the platform with which the wireless communication link was established. The command includes the IP address of the first platform.

[0011] Upon receiving the instruction, the platform compares the IP address of the first platform to determine whether the IP address of the first platform is the same as the local IP address.

[0012] If they are the same, then the RTK data of this platform will be forwarded to the drone.

[0013] If they are different, a communication connection is established with the first platform corresponding to the IP address of the first platform, the instruction is forwarded to the first platform, the first platform forwards its RTK data to the platform that received the instruction, and the platform forwards the RTK data to the drone.

[0014] Furthermore, the RTK data includes RTCM information. After receiving the RTCM information, the UAV performs differential calculation with its own positioning information to obtain differential position data.

[0015] Furthermore, the RTCM information includes any one or more of GPS information, GLONASS information, and BeiDou navigation information;

[0016] The drone obtains the positioning information through any one or more of GPS, GLONASS, and BeiDou navigation.

[0017] Furthermore, the multi-habitat platforms are connected to each other via a local area network, either wired or wirelessly.

[0018] Furthermore, the drone communicates with the platform via any one or more of SDR, 4G, and 5G communication.

[0019] Furthermore, during the flight of the UAV, if the communication threshold of the first platform is exceeded, the UAV switches its communication link to the platform within the communication coverage area of ​​its current location.

[0020] The present invention also includes a UAV positioning and data communication system based on a multi-amphibious platform, comprising:

[0021] The drone and several platforms, wherein the drone is communicatively connected to one of the platforms and the platforms are communicatively connected to each other, and the drone and the platforms communicate positioning data using the method described above.

[0022] The present invention also includes a device for use in a drone, comprising:

[0023] The communication module communicates with the platform and is used to send RTK data request commands and receive IP addresses and RTK data.

[0024] Storage module, the storage module being used to store IP addresses;

[0025] A positioning module, which is used to acquire the positioning information of the UAV;

[0026] The calculation module is used to calculate differential location data based on the RTK data and positioning information.

[0027] The present invention also includes an apparatus applied to a platform, comprising:

[0028] The communication module is used for communication connections with the platform and the drone, and is used to send IP addresses and RTK data with the drone; receive RTK data request commands; and forward RTK data request commands and RTK data with the platform.

[0029] RTK module, which is used to acquire RTK data of this platform;

[0030] Storage module, wherein the storage module stores the local IP address;

[0031] The judgment module is used to compare whether the IP address contained in the RTK data request instruction is the same as the IP address of this platform.

[0032] The present invention also includes a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method as described above.

[0033] The present invention also includes a storage medium having a computer program stored thereon, which, when executed by a processor, implements the method as described above.

[0034] The beneficial effects of this invention are as follows: This invention sends the IP address of the first platform to the drone, and then the drone records the IP address of the first platform. When the drone subsequently sends an RTK data request command, it appends the IP address of the first platform. The receiving platform compares the IP address of the first platform with its own address. If they are the same, it means that it is still the first platform connected to the drone, and the RTK data can be sent directly to the drone. If they are different, it means that the platform connected to the drone has changed. If the RTK data of the first platform is sent directly to the drone, it will take some time for the drone to enter a fixed state, resulting in inaccurate positioning. Therefore, the first platform forwards the command to the first platform, so that the first platform forwards its own RTK data to the drone through the platform connected to the drone, so that the drone always stays in a fixed state, ensuring the flight accuracy of the drone. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a flowchart of the method in Example 1;

[0037] Figure 2 This is a schematic diagram of the system in Example 1;

[0038] Figure 3 This is a schematic diagram of the device applied to a drone in Example 1;

[0039] Figure 4 This is a schematic diagram of the device applied to the platform in Example 1;

[0040] Figure 5 This is a schematic diagram of the system in Example 2;

[0041] Figure 6 This is a flowchart of the method in Example 2;

[0042] Figure 7 This is a schematic diagram of a computer device. Detailed Implementation

[0043] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0044] Example 1:

[0045] like Figure 1 As shown: A method for UAV positioning and data communication based on a multi-purpose platform includes the following steps:

[0046] The drone establishes a wireless communication link with the first platform;

[0047] The first platform sends the first IP (Internet Protocol) address to the drone, and the drone records the IP address of the first platform. The first platform is the first platform that the drone occupies in the multi-purpose platform.

[0048] During flight, the drone establishes a wireless communication link with one of the platforms and sends an RTK data request command to the platform that established the wireless communication link. The command includes the IP address of the first platform.

[0049] The platform that receives the instruction compares the IP address of the first platform to determine whether the IP address of the first platform is the same as the local IP address;

[0050] If they are the same, then forward the RTK data from this platform to the drone;

[0051] If they are different, establish a communication connection with the first platform corresponding to the IP address of the first platform, forward the instruction to the first platform, the first platform forwards its own RTK data to the platform that received the instruction, and the platform forwards the RTK data to the drone.

[0052] By sending the IP address of the first platform to the drone, and then the drone recording the IP address of the first platform, the drone appends the IP address of the first platform when sending subsequent RTK data request commands. The receiving platform compares the IP address of the first platform with its own address. If they are the same, it means that it is still the first platform connected to the drone, and the RTK data can be sent directly to the drone. If they are different, it means that the platform connected to the drone has changed. If the RTK data of the first platform is sent directly to the drone, it will take some time for the drone to enter a fixed solution, resulting in inaccurate positioning. Therefore, the first platform forwards the command to the first platform, which then forwards its own RTK data to the drone through the platform connected to the drone. This keeps the drone in a fixed solution state and ensures the drone's flight accuracy.

[0053] In this embodiment, the RTK data includes RTCM (Radio Technical Commission for Maritime Services) information. After receiving the RTCM information, the UAV performs differential calculation with its own positioning information to obtain differential position data.

[0054] RTCM information includes any one or more of GPS (Global Positioning System) information, GLONASS information, and BeiDou navigation information;

[0055] The drone obtains its location information through any one or more of GPS, GLONASS, and BeiDou navigation.

[0056] As a preferred embodiment of the above, the multiple homing platforms establish a local area network TCP (Transmission Control Protocol) connection via wired or wireless means, which facilitates the platform to find the corresponding first platform based on the IP address and forward the data.

[0057] As a preferred embodiment of the above, the drone and the platform communicate via any one or more of SDR (Software Defined Radio), 4G, and 5G communication.

[0058] In this embodiment, if the communication threshold of the first platform is exceeded during the flight of the UAV, the UAV switches the communication link to the platform within the communication coverage area of ​​the current location.

[0059] like Figure 2 As shown, this embodiment also includes a UAV positioning data communication system based on a multi-platform system, comprising: a UAV and several platforms, wherein the UAV is connected to one of the platforms, the platforms are connected to each other, and the UAV and the platforms communicate positioning data with each other using the method described above.

[0060] like Figure 3 As shown, this embodiment also includes a device applied to a drone, comprising:

[0061] The communication module communicates with the platform to send RTK data request commands and receive IP addresses and RTK data.

[0062] The storage module is used to store IP addresses;

[0063] The positioning module is used to acquire the drone's positioning information;

[0064] The calculation module is used to calculate differential position data based on RTK data and positioning information.

[0065] like Figure 4 As shown, this embodiment also includes a device applied to the platform, comprising:

[0066] The communication module is used for communication connections with the platform and the drone. It is used to send IP addresses and RTK data with the drone; receive RTK data request commands; and forward RTK data request commands and RTK data with the platform.

[0067] The RTK module is used to obtain RTK data for this platform.

[0068] The storage module stores the local machine's IP address.

[0069] The judgment module is used to compare whether the IP address contained in the RTK data request command is the same as the IP address of this platform.

[0070] Example 2:

[0071] like Figure 5 As shown, the wireless communication system of this embodiment includes: a drone platform 101, a drone device 102, a communication device 103, and a drone platform 104.

[0072] like Figure 6 As shown, the drone device 102 takes off from the drone platform 101, recording the IP address information of the drone platform 101 before takeoff. The drone device 102 sends the IP address information to the drone platform 101. The drone platform 101 receives the drone's IP address information and compares it with its own IP address. If the received IP address matches the drone platform 101's IP address, the drone device 102 forwards its RTCM information to the drone device 102. Upon receiving the RTCM information, the drone device 102 performs differential calculations with its own GPS information to obtain differential position data.

[0073] During flight, UAV device 102 switches its communication connection to UAV platform 104. UAV device 102 sends its IP address information to UAV platform 104. UAV platform 104 receives the UAV's IP address information and compares it with its own IP address. Since the received IP address is different, UAV platform 104 sends the IP address information to communication device 103, which then sends it to UAV platform 101. UAV platform 101 receives the UAV's IP address information and compares it with its own IP address. Since the received IP address is the same, it forwards its RTCM information to communication device 103. Communication device 103 forwards the RTCM information to UAV platform 104, which then forwards it to UAV device 102. Upon receiving the RTCM information, UAV device 102 performs differential calculations with its own GPS information to obtain differential position data.

[0074] Please see Figure 7 The diagram shows a structural schematic of a computer device provided in an embodiment of this application. An embodiment of this application provides a computer device 400, including a processor 410 and a memory 420. The memory 420 stores a computer program executable by the processor 410. When the computer program is executed by the processor 410, it performs the method described above.

[0075] This application embodiment also provides a storage medium 430, on which a computer program is stored, and the computer program is executed by a processor 410 to perform the above method.

[0076] The storage medium 430 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0077] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. "A plurality of" means two or more, unless otherwise explicitly specified.

[0078] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0079] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0080] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0081] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0082] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0083] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0084] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for UAV positioning and data communication based on a multi-purpose platform, comprising the following steps: The drone establishes a wireless communication link with the first platform, which is the first platform in the multi-habited platform where the drone resides; Local area network connections are established between the various habitat platforms; The first platform sends its IP address to the drone, and the drone records the IP address of the first platform; During flight, the UAV establishes a wireless communication link with one of the multi-habitat platforms and sends an RTK data request command to the platform that established the wireless communication link. The command includes the IP address of the first platform. Upon receiving the instruction, the platform compares the IP address of the first platform to determine whether the IP address of the first platform is the same as the local IP address. If they are the same, then the RTK data of this platform will be forwarded to the drone. If they are different, a communication connection is established with the first platform corresponding to the IP address of the first platform, and the instruction is forwarded to the first platform. The first platform forwards its RTK data to the platform that received the instruction, and the platform forwards the RTK data to the drone, so that the drone is always in a fixed solution state.

2. The UAV positioning data communication method based on a multi-habitat platform according to claim 1, characterized in that, The RTK data includes RTCM information. After receiving the RTCM information, the UAV performs differential calculation with its own positioning information to obtain differential position data.

3. The UAV positioning data communication method based on a multi-habitat platform according to claim 2, characterized in that, The RTCM information includes any one or more of GPS information, GLONASS information, and BeiDou navigation information. The drone obtains the positioning information through any one or more of GPS, GLONASS, and BeiDou navigation.

4. The UAV positioning data communication method based on a multi-habitat platform according to claim 1, characterized in that, The drone communicates with the platform via any one of SDR, 4G, or 5G communication.

5. The UAV positioning data communication method based on a multi-habitat platform according to claim 1, characterized in that, If the communication threshold of the first platform is exceeded during the flight of the drone, the drone will switch its communication link to the platform within the communication coverage area of ​​its current location.

6. A UAV positioning and data communication system based on a multi-amphibious platform, characterized in that, include: The drone and several platforms, wherein the drone is communicatively connected to one of the platforms and the platforms are communicatively connected to each other, and the drone and the platforms communicate positioning data using the method described in any one of claims 1 to 5.

7. A device for use in a drone, characterized in that, When the UAV and the plurality of platforms communicate positioning data, the method described in any one of claims 1 to 5 is used, comprising: The communication module communicates with the platform and is used to send RTK data request commands and receive IP addresses and RTK data. Storage module, the storage module being used to store IP addresses; A positioning module, which is used to acquire the positioning information of the UAV; The calculation module is used to calculate differential location data based on the RTK data and positioning information.

8. An apparatus applied to a platform, characterized in that, When the drone and the plurality of platforms communicate positioning data, the method described in any one of claims 1 to 5 is used, comprising: The communication module is used for communication connections with the platform and the drone, and is used to send IP addresses and RTK data with the drone; receive RTK data request commands; and forward RTK data request commands and RTK data with the platform. RTK module, which is used to acquire RTK data of this platform; Storage module, wherein the storage module stores the local IP address; The judgment module is used to compare whether the IP address contained in the RTK data request instruction is the same as the IP address of this platform.

9. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1-5.

10. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method as described in any one of claims 1-5.

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