A method for unmanned aerial vehicle ground station control right handover

Abstract

The application provides a UAV ground station control right handover method, and relates to the technical field of a UAV ground station.The application comprises the following steps: performing intranet identity authentication by a networking management node for a new task control node, a new UAV measurement and control link resource node, an original task control node and an original UAV measurement and control link resource node; maintaining a control relationship between the original task control node and the UAV; switching the UAV measurement and control link resource node; and completing the control right handover.The application can be applied to a UAV ground station control right handover scene with a networking management node, and can also be applied to a control right handover scene of other systems.

Description

Technical Field

[0001] This invention relates to the field of UAV ground station technology, and in particular to a method for handing over control of UAV ground stations. It is applicable to UAV ground station control handover scenarios with network management nodes, and can also be applied to control handover scenarios of other systems. Background Technology

[0002] As the core of an unmanned aerial vehicle (UAV) system, the UAV ground station primarily supports operators in remotely monitoring and controlling the UAV, assisting them in mission planning, real-time processing and distribution of reconnaissance information, and other tasks. A typical UAV ground station includes UAV telemetry and control link resource nodes, mission control nodes, and intelligence processing nodes; some also include network management nodes.

[0003] Networked drone applications include a two-station-one-drone mode, where two drone ground stations control one drone, but lack an automated control handover method through network management nodes. Summary of the Invention

[0004] In view of this, the present invention proposes a method for the handover of control of a UAV ground station. This invention enables the handover of control of a UAV ground station with a network management node.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A method for handing over control of an unmanned aerial vehicle (UAV) ground station includes the following steps:

[0007] (1) The new mission control node, the new UAV telemetry and control link resource node, the original mission control node, and the original UAV telemetry and control link resource node are authenticated within the network through the network management node.

[0008] (2) The original mission control node and the UAV maintain the control relationship;

[0009] (3) Switch the UAV telemetry and control link resource node;

[0010] (4) Complete the transfer of control.

[0011] Furthermore, the specific method of step (1) is as follows:

[0012] (101) The new mission control node, the new UAV telemetry and control link resource node, the original mission control node, and the original UAV telemetry and control link resource node send network access applications to the network management node.

[0013] (102) After the network management node performs identity authentication, it approves the new task control node, the new UAV telemetry and control link resource node, the original task control node, and the original data link station to join the network, and sends a network entry response.

[0014] (103) The new mission control node, the new UAV telemetry and control link resource node, the original mission control node, and the original UAV telemetry and control link resource node send periodic heartbeats and working status. The network management node collects the heartbeats of each node and maintains the network status.

[0015] Furthermore, the specific method of step (2) is as follows:

[0016] (201) The original mission control node sends general remote control commands to the UAV;

[0017] (202) The UAV sends a general telemetry response to the original mission control node.

[0018] Furthermore, the specific method of step (3) is as follows:

[0019] (301) The new task control node sends a message to the network management node to request UAV link resources;

[0020] (302) The network management node sends the UAV data link parameter configuration to the new task control node;

[0021] (303) The new mission control node sends data link site parameter configuration to the new UAV telemetry and control link resource node;

[0022] (304) The new UAV telemetry and control link resource node establishes a downlink with the UAV;

[0023] (305) The UAV sends general link telemetry to the new mission control node. The new mission control node obtains the UAV's position from the general link telemetry to prepare for aligning the antenna and establishing the uplink.

[0024] (306) The new task control node sends a request for UAV link control to the network management node;

[0025] (307) The network management node forwards the UAV link control request to the original task control node;

[0026] (308) The original task control node sends a message to the network management node to allow the transfer of UAV link control;

[0027] (309) The network management node sends a message to the new task control node to allow the UAV to request link control rights;

[0028] (310) The new mission control node sends the data link site parameter configuration to the new UAV telemetry and control link resource node;

[0029] (311) The new UAV telemetry and control link resource node establishes an uplink with the UAV.

[0030] Furthermore, the specific method of step (4) is as follows:

[0031] (401) The new task control node sends a control handover request to the network management node;

[0032] (402) The network management node maintains the list of controllable sites for UAVs and determines whether the control node for the new task is controllable based on whether the control node for the new task is on the list.

[0033] (403) The network management node forwards the control handover request to the original task control node;

[0034] (404) The original task control node sends a control handover permission message to the network management node;

[0035] (405) The network management node forwards the control handover permission message to the new task control node;

[0036] (406) The original mission control node sends the new mission control node ID to the UAV;

[0037] (407) The new task control node sends a control request to the drone, providing its own ID;

[0038] (408) After the UAV determines that the ID of the new mission control node is correct, it sends an authorization response;

[0039] (409) The new task control node sends an authorization response to the network management node so that the network management node can update the list of sites that are controlling the drone;

[0040] (410) The new task control node gains control and sends general remote control commands to the UAV;

[0041] (411) The UAV sends a general telemetry response to the new mission control node.

[0042] Compared with the prior art, the present invention has the following advantages:

[0043] 1. This invention proposes a relatively universal control handover method for the two-station-one-drone control handover scenario in the background technology of networked drone applications, which has a high degree of universality.

[0044] 2. This invention is applicable not only to the two-station-one-machine mode, but also to the multi-station-one-machine mode. Attached Figure Description

[0045] Figure 1 This is a schematic diagram illustrating the principle of the handover of control between two stations and one machine in an embodiment of the present invention. Detailed Implementation

[0046] The present invention will now be further described with reference to the accompanying drawings.

[0047] like Figure 1 As shown, a method for handing over control of a UAV ground station is described. The nodes involved in this method include a new UAV telemetry and control link resource node, a new mission control node, a network management node, the original UAV telemetry and control link resource node, the original mission control node, and the UAV. Except for the UAV, the other nodes are interconnected using a ground communication network or a wireless transmission network.

[0048] The method includes the following steps:

[0049] (1) In-network identity authentication;

[0050] (2) The original mission control node and the UAV maintain the control relationship;

[0051] (3) Switch the UAV telemetry and control link resource node;

[0052] (4) Transfer of control.

[0053] The specific method of step (1) is as follows:

[0054] (101) The new mission control node, the new UAV telemetry and control link resource node, the original mission control node, and the original UAV telemetry and control link resource node send network access applications to the network management node.

[0055] (102) After the network management node performs identity authentication, it approves the new task control node, the new UAV telemetry and control link resource node, the original task control node, and the original data link station to join the network, and sends a network entry response.

[0056] (103) The new mission control node, the new UAV telemetry and control link resource node, the original mission control node, and the original UAV telemetry and control link resource node send periodic heartbeats and working status. The network management node aggregates the heartbeats of each node to maintain the network status.

[0057] The specific method for step (2) is as follows:

[0058] (201) The original mission control node sends general remote control commands to the UAV;

[0059] (202) The UAV sends a general telemetry response to the original mission control node.

[0060] The specific method for step (3) is as follows:

[0061] (301) The new task control node sends a request for UAV link resources to the network management node;

[0062] (302) The network management node sends the UAV data link parameter configuration to the new task control node;

[0063] (303) The new mission control node sends data link site parameter configuration to the new UAV telemetry and control link resource node;

[0064] (304) The new UAV telemetry and control link resource node establishes a downlink with the UAV;

[0065] (305) The UAV sends general link telemetry to the new mission control node. The new mission control node obtains the UAV's position from the general link telemetry to prepare for aligning the antenna and establishing the uplink.

[0066] (306) The new task control node sends a request for UAV link control to the network management node;

[0067] (307) The network management node forwards the UAV link control request to the original task control node;

[0068] (308) The original task control node sends a message to the network management node allowing the transfer of UAV link control;

[0069] (309) The network management node sends a request to the new task control node to grant the UAV link control rights;

[0070] (310) The new mission control node sends the data link site parameter configuration to the new UAV telemetry and control link resource node;

[0071] (311) The new UAV telemetry and control link resource node establishes an uplink with the UAV.

[0072] The specific method for step (4) is as follows:

[0073] (401) The new task control node applies for the transfer of control to the network management node;

[0074] (402) The network management node determines that the new task control node is controllable. The network management node maintains the list of controllable sites for UAVs and determines whether the new task control node is on the list. If the new task control node is on the list, it is determined to be controllable.

[0075] (403) The network management node forwards the control handover request to the original task control node;

[0076] (404) The original task control node sends a control handover permission to the network management node;

[0077] (405) Network management node is allowed to forward control handover to new task control node;

[0078] (406) The original mission control node sends the new mission control node ID to the UAV;

[0079] (407) The new task control node sends a control request to the drone, providing its own ID;

[0080] (408) After the UAV determines that the ID of the new mission control node is correct, it sends an authorization response;

[0081] (409) The new task control node sends an authorization response to the network management node so that the network management node can update the list of sites that are controlling the drone;

[0082] (410) The new task control node gains control and sends general remote control commands to the UAV;

[0083] (411) The UAV sends a general telemetry response to the new mission control node.

[0084] This invention can be applied to the control handover scenario of UAV ground station with network management nodes, and can also be applied to the control handover scenario of other systems.

Claims

1. A method for handing over control of an unmanned aerial vehicle (UAV) ground station, characterized in that, Includes the following steps: (1) The new mission control node, the new UAV telemetry and control link resource node, the original mission control node, and the original UAV telemetry and control link resource node are authenticated within the network through the network management node; (2) The original mission control node and the UAV maintain the control relationship; (3) Switch the UAV telemetry and control link resource node; the specific method is as follows: (301) The new task control node sends a message to the network management node to request UAV link resources; (302) The network management node sends the UAV data link parameter configuration to the new task control node; (303) The new mission control node sends data link site parameter configuration to the new UAV telemetry and control link resource node; (304) The new UAV telemetry and control link resource node establishes a downlink with the UAV; (305) The UAV sends general link telemetry to the new mission control node. The new mission control node obtains the UAV's position from the general link telemetry to prepare for aligning the antenna and establishing the uplink. (306) The new task control node sends a request for UAV link control to the network management node; (307) The network management node forwards the UAV link control request to the original task control node; (308) The original task control node sends a message to the network management node to allow the transfer of UAV link control; (309) The network management node sends a message to the new task control node to allow the UAV to request link control rights; (310) The new mission control node sends the data link site parameter configuration to the new UAV telemetry and control link resource node; (311) The new UAV telemetry and control link resource node establishes an uplink with the UAV; (4) Complete the transfer of control; the specific methods are as follows: (401) The new task control node sends a control handover request to the network management node; (402) The network management node maintains the list of controllable sites for UAVs and determines whether the control node for a new task is controllable based on whether the control node for the new task is on the list; (403) The network management node forwards the control handover request to the original task control node; (404) The original task control node sends a control handover permission message to the network management node; (405) The network management node forwards the control handover permission message to the new task control node; (406) The original mission control node sends the new mission control node ID to the UAV; (407) The new task control node sends a control request to the UAV, providing its own ID; (408) After the UAV determines that the ID of the new mission control node is correct, it sends an authorization response; (409) The new task control node sends an authorization response to the network management node so that the network management node can update the list of sites that are controlling the UAV; (410) The new mission control node gains control and sends general remote control commands to the UAV; (411) The UAV sends a general telemetry response to the new mission control node.

2. The method for handing over control of a UAV ground station according to claim 1, characterized in that, The specific method of step (1) is as follows: (101) The new mission control node, the new UAV telemetry and control link resource node, the original mission control node, and the original UAV telemetry and control link resource node send network access applications to the network management node; (102) After the network management node performs identity authentication, it approves the new task control node, the new UAV telemetry and control link resource node, the original task control node, and the original data link station to join the network, and sends the network entry response; (103) The new mission control node, the new UAV telemetry and control link resource node, the original mission control node, and the original UAV telemetry and control link resource node send periodic heartbeats and working status. The network management node collects the heartbeats of each node and maintains the network status.

3. The method for handing over control of a UAV ground station according to claim 2, characterized in that, The specific method for step (2) is as follows: (201) The original mission control node sends general remote control commands to the UAV; (202) The UAV sends a general telemetry response to the original mission control node.

Images