Multi-station multi-unmanned aerial vehicle access, management and permission transfer method

Abstract

The embodiment of the present disclosure relates to a multi-station multi-unmanned aerial vehicle access, management and permission transfer method. The embodiment of the present disclosure increases the interchangeability and use flexibility of the unmanned aerial vehicle system by reading the unmanned aerial vehicle number through the airborne data terminal, avoids the use mode that the unmanned aerial vehicle number and the airborne data terminal must be bound, and meets the interchangeability requirement of the unmanned aerial vehicle system. When the ground data terminal receives downlink data, the information such as the unmanned aerial vehicle number and the unmanned aerial vehicle model is judged, and the fault tolerance of the ground data is increased. In the case of unstable link or link interference, error code data can be filtered out to prevent the interference of error data on the operator and ensure flight safety. Based on the general system, the link automatically switches the waveform, the information display module switches the decoding module and the like according to the network configuration of the ground station and the unmanned aerial vehicle model, and then the ground station and other models of unmanned aerial vehicles are realized.

Description

Technical Field

[0001] This disclosure relates to the field of unmanned aerial vehicle (UAV) system technology based on interoperability standard protocols, and particularly to a method for multi-site, multi-UAV access, management, and permission handover. Background Technology

[0002] The strategic importance of unmanned aerial vehicles (UAVs) is increasing, and their numbers are rising rapidly. A typical UAV system configuration includes one ground station (including a ground data terminal) and several UAVs. Communication between the UAVs and the ground data terminal uses frequency division or time division mode. This mode is characterized by fixed UAV mission roles, limited battlefield combat capabilities, and the ground station only supporting two UAVs within its own system. This approach is inflexible, lacks versatility, and is not interoperable in actual combat exercises and exercises.

[0003] As unmanned aerial vehicle (UAV) command systems become increasingly large, a "single ground control system" is needed to ensure interoperability among UAV systems. Based on interoperability protocol standards, this system transmits and receives information from multiple UAV models, allowing various models with different data link waveforms to share information through a common ground station. The UAV command system is equipped with portable devices for individual soldiers to take over and control of UAVs, integrating the individual soldier's system into UAV operations and maximizing the low cost and high flexibility of UAVs. Simultaneously, communication security is ensured by separately securing keys for both the ground station and the UAVs, guaranteeing the operational capability of the entire system.

[0004] For the aforementioned application context, detailed solutions are currently unavailable for issues such as multi-model and multi-drone identification, ground station access for multiple drone types, equipment management, handover of permissions between individual soldiers and control vehicles, and key engraving for drone identification. Summary of the Invention

[0005] To avoid the shortcomings of existing technologies, this invention provides a method for multi-station and multi-UAV access, management, and permission handover, which solves the problems in existing technologies that fail to address the identification and recognition of multiple UAVs in equipment, identification and recognition of ground stations, identification and network access of UAVs by ground stations, permission recognition of UAVs by ground stations, rapid link configuration, and permission handover of ground equipment.

[0006] According to a first aspect of the present disclosure, a method for multi-station, multi-UAV access is provided, the method comprising:

[0007] Step S101: Unmanned Aerial Vehicle (UAV) Identification;

[0008] Based on the batch number and serial number of each drone, construct the identification code for each drone and save it to a local file;

[0009] Step S102: Identification of airborne data terminal;

[0010] The airborne data terminal reads the UAV number from the local file, encodes the UAV number into the downlink data, and reads the UAV number from the telemetry data packet sent by the current flight control computer locally, and performs a write operation to make the UAV number in the downlink data consistent with the UAV number in the flight control computer.

[0011] Step S103: Network access configuration;

[0012] The ground station receives the downlink data and obtains network access configuration information by setting the UAV model that the binding task needs to link, the ground station model that controls the UAV, and the identification code in the downlink data through the network access configuration settings, so as to establish link-level communication between the ground data terminal and the airborne data terminal; wherein, the ground station model includes portable equipment for individual soldiers and ground control vehicles;

[0013] Step S104: The ground data terminal sends uplink data;

[0014] When the ground data terminal sends the uplink data, the ground data terminal reads the ground network access configuration information, adds the UAV model, the UAV batch number, the UAV serial number and the ground station model to the uplink data, and sends the uplink data to the airborne data terminal;

[0015] Step S105: The ground data terminal receives downlink data;

[0016] When the ground data terminal receives the downlink data, it receives the downlink data transmitted by the airborne data terminal, reads and determines whether the UAV model, UAV batch number, UAV serial number and ground station model in the downlink data are consistent with the UAV model, UAV batch number, UAV serial number and ground station model in the network access configuration information. If they are consistent, the ground data terminal forwards the downlink data to the first integrated display and control module.

[0017] Furthermore, step S103 includes:

[0018] The first integrated display and control module in the ground station broadcasts the network access configuration information, respectively notifying the first link monitoring module and the first task monitoring module of the ground station;

[0019] Select the bandwidth, channel, and mission type corresponding to the UAV number to be connected to the link, configure the airborne and ground links with one click, and generate a link configuration message;

[0020] The ground data terminal performs link status matching and switching according to the link configuration message, and establishes link-level communication between the ground data terminal and the airborne data terminal.

[0021] Furthermore, step S104 includes:

[0022] The airborne data terminal receives the uplink data. If the ground station model in the uplink data is the ground control vehicle, and the UAV number is consistent with the UAV number stored locally, then the airborne data terminal forwards the uplink data to the flight control computer. The flight control computer receives the uplink data and parses the control commands in the uplink data.

[0023] Furthermore, step S105 also includes:

[0024] If there is a discrepancy, the ground data terminal will not process or forward the received downlink data.

[0025] According to a second aspect of the present disclosure, a multi-station, multi-UAV management method is provided, the method comprising:

[0026] The ground station records the detailed information of the linked drones through uplink and downlink data, and saves the detailed information of the drones to a local file. The detailed information of the drones includes the drone model, drone batch number, drone serial number, ground station model and ground station serial number. The detailed information of the drones can be browsed, queried and entered.

[0027] According to a second aspect of the present disclosure, a method for multi-station, multi-UAV access control handover is provided, the method comprising:

[0028] While the ground control vehicle and the UAV maintain communication, the portable equipment for individual soldiers is set up and powered on. The portable equipment starts working and repeatedly performs network access configuration to configure the network access information of the portable equipment. The portable equipment for individual soldiers includes a portable telemetry and control terminal and a portable monitoring device. The network access information includes the UAV model, UAV batch number, UAV serial number and ground station model.

[0029] After successfully establishing a link in single-receive mode by switching the receiving channel of the portable soldier's device to the same channel of the ground control vehicle, the portable soldier's device receives downlink data. The portable soldier's device compares the UAV model, UAV batch number, and UAV serial number in the downlink data with the UAV model, UAV batch number, and UAV serial number in the network access information. If they match, the portable soldier's device forwards the downlink data to the portable monitoring device, and the second integrated display and control module of the portable monitoring device receives and displays the data.

[0030] The portable telemetry and control terminal sends a permission handover instruction to the airborne data terminal, which then forwards the instruction to the ground data terminal. After receiving the permission handover instruction, the first integrated display and control module allows the operator to confirm the permission handover. The ground data terminal then forwards the permission handover permission permission instruction to the airborne data terminal. The airborne data terminal locally stores the ground station model as the portable device model. The airborne data terminal sends downlink data to the portable telemetry and control terminal. The portable telemetry and control terminal repeatedly receives downlink data and compares the ground station model, UAV batch number, UAV serial number, and network access information in the downlink data. If they match, the data is forwarded to the portable monitoring device.

[0031] The portable monitoring device sends uplink data to the airborne data terminal. If the airborne data terminal locally stores the ground station model and the ground station model in the uplink data are the same, it forwards the uplink data to the flight control computer.

[0032] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0033] In the embodiments disclosed herein, the multi-station, multi-UAV access, management, and permission handover method described above, along with the UAV number reading method via the airborne data terminal, increases the interchangeability and flexibility of the UAV system. This avoids the requirement to bind UAV numbers and airborne data terminals, thus meeting the interchangeability requirements of the UAV system. Operators can flexibly configure the system link mode for this mission according to the network access configuration process, such as one station to one UAV, one station to two mission UAVs, or one station to a dual-UAV relay mode. The visually recognized UAV batch number is mapped to the UAV's internal serial number, allowing ground station module operators to distinguish UAVs simply by their batch number when communicating with and operating the UAVs to perform missions. Operators do not require specialized link knowledge; link communication is established through interface link configuration and internal program processing. When the ground data terminal receives downlink data, it checks the UAV number and model, increasing the fault tolerance of ground data. In the event of link instability or interference, erroneous data can be filtered out to prevent interference with operators and ensure flight safety. Based on a universal system, the network access configuration and link establishment process enables various UAVs to share information with a universal ground station. Through the network access configuration of the ground station, corresponding to the UAV model, the link automatically switches waveforms, and the information display module switches to the decoding module, thereby realizing the interoperability of the ground station with other UAV models. Attached Figure Description

[0034] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0035] Figure 1 This diagram illustrates the steps of a multi-station, multi-UAV access method according to an exemplary embodiment of this disclosure.

[0036] Figure 2 This diagram illustrates the structural block diagram of a drone in an exemplary embodiment of this disclosure;

[0037] Figure 3 This diagram illustrates a method for configuring and recognizing drone identity in an exemplary embodiment of this disclosure.

[0038] Figure 4 This diagram illustrates an airborne data terminal identification method in an exemplary embodiment of this disclosure.

[0039] Figure 5 This diagram illustrates the structural block diagram of a ground station in an exemplary embodiment of this disclosure;

[0040] Figure 6 This diagram illustrates the structure of the ground control vehicle in an exemplary embodiment of this disclosure.

[0041] Figure 7 This diagram illustrates the structure of a portable measurement and control device in an exemplary embodiment of this disclosure.

[0042] Figure 8 This diagram illustrates a flowchart of network access configuration in an exemplary embodiment of this disclosure.

[0043] Figure 9 This diagram illustrates network access configuration information in an exemplary embodiment of this disclosure.

[0044] Figure 10 This diagram illustrates a link configuration frame in an exemplary embodiment of this disclosure;

[0045] Figure 11 This diagram illustrates a flowchart of a method for a ground data terminal to transmit uplink data in an exemplary embodiment of this disclosure.

[0046] Figure 12 This diagram illustrates a flowchart of a method for transmitting downlink data by a ground data terminal in an exemplary embodiment of this disclosure.

[0047] Figure 13 This diagram illustrates uplink and downlink data in an exemplary embodiment of this disclosure.

[0048] Figure 14 This diagram illustrates the steps of a multi-station, multi-UAV management method according to an exemplary embodiment of this disclosure.

[0049] Figure 15 This diagram illustrates the steps of a multi-station, multi-UAV authority handover method according to an exemplary embodiment of this disclosure.

[0050] Figure 16 A flowchart illustrating the implementation of permission handover in an exemplary embodiment of this disclosure is shown. Detailed Implementation

[0051] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that this disclosure will be more comprehensive and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0052] Furthermore, the accompanying drawings are merely illustrative diagrams of embodiments of this disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities.

[0053] This example implementation first provides a method for multi-site, multi-UAV access. (Reference) Figure 1 As shown, the multi-station multi-UAV access method may include steps S101 to S105.

[0054] Step S101: Unmanned Aerial Vehicle (UAV) Identification; Based on the UAV batch number and UAV serial number of each UAV, construct the identification code of each UAV and save it to a local file;

[0055] Step S102: Airborne data terminal identification; The airborne data terminal reads the UAV number from the local file, encodes the UAV number into the downlink data, and reads the UAV number from the telemetry data packet sent by the current flight control computer locally, and performs a write operation to make the UAV number in the downlink data consistent with the UAV number in the flight control computer;

[0056] Step S103: Network access configuration; The ground station receives the downlink data and sets the UAV model that the binding task needs to link, the ground station model that controls the UAV, and the identification code in the downlink data through the network access configuration to obtain network access configuration information, so as to establish link-level communication between the ground data terminal and the airborne data terminal; wherein, the ground station model includes portable equipment for individual soldiers and ground control vehicles;

[0057] Step S104: The ground data terminal sends uplink data; when the ground data terminal sends the uplink data, the ground data terminal reads the ground network access configuration information, adds the UAV model, the UAV batch number, the UAV serial number and the ground station model to the uplink data, and sends the uplink data to the airborne data terminal;

[0058] Step S105: The ground data terminal receives downlink data; when the ground data terminal receives the downlink data, it receives the downlink data transmitted by the airborne data terminal, reads and determines whether the UAV model, UAV batch number, UAV serial number and ground station model in the downlink data are consistent with the UAV model, UAV batch number, UAV serial number and ground station model in the network access configuration information. If they are consistent, the ground data terminal forwards the downlink data to the first integrated display and control module.

[0059] The multi-station, multi-UAV access method described above utilizes a serial numbering device for UAVs, facilitating serial number setting during assembly, commissioning, and production. This avoids the need to rewrite flight control computer programs and modify UAV serial numbers due to their uniqueness. This method reduces module workload in mass production of UAVs and makes UAV serial number maintenance more convenient. Reading UAV serial numbers via the onboard terminal increases the interchangeability and flexibility of the UAV system. If the flight control equipment on a UAV malfunctions, the flight control computer can be swapped with one from a different batch of the same model. Even if the UAV serial number changes in this application scenario, the onboard data terminal can still meet the system's rapid link establishment requirements by restarting and reading the serial number from the local record file. This avoids the requirement to bind UAV serial numbers and onboard data terminals, satisfying the interchangeability requirements of the UAV system. Operators can flexibly configure the system link mode for this mission according to the network access configuration process, such as one station to one UAV, one station to two mission UAVs, or one station to a dual-UAV relay mode. The visually recognized UAV batch number is mapped to the UAV's internal serial number, allowing ground station operators to distinguish UAVs simply by their batch number when communicating with and operating them for missions. Operators do not need professional knowledge of the link; they can establish link communication through the link configuration interface and the internal processing of the program.

[0060] Below, we will refer to Figures 1 to 16 The steps of the multi-site, multi-UAV access method described in this example embodiment will be explained in more detail.

[0061] In step S101, the drone is identified.

[0062] Specifically, such as Figure 2 The diagram shows a schematic of a drone. The drone includes an onboard data terminal and a flight control computer. The onboard data terminal includes an onboard data terminal module, and the flight control computer includes a flight control module. Figure 3 The diagram shown illustrates the method for configuring and recognizing drone identities.

[0063] Establish a unique identification rule as the drone's identification code. The identification code includes the drone batch number and the drone serial number. The drone batch number is the fuselage paint number used during production; batch numbers are unique and visually identifiable. The drone serial number is the bytecode in the remote control and telemetry data sent by the flight control computer; this number is unique and can be identified by a program according to the data format. The batch number and serial number together serve as criteria to determine the drone's unique identification. After the fuselage is painted, the batch number is recorded on the logbook to ensure its uniqueness. Connect the refueling device to the flight control computer, view the set drone serial number on the refueling device, click the serial number generation button to send the serial number injection command, and after receiving the command, the flight control computer modifies the internal serial number to the new one.

[0064] In step S102, the airborne data terminal is identified. For example... Figure 4 The diagram shown is a schematic of an airborne data terminal identification method.

[0065] Specifically, upon initial power-on after assembly, the onboard data terminal retrieves the previously recorded drone number from its local records and encodes it into the downlink data frame. Simultaneously, it reads the drone code from the telemetry data packet currently being sent by the flight control computer and writes it into the data packet. After a power outage and subsequent power-on, the drone number in the downlink data frame sent by the onboard data terminal matches the drone number in the current flight control computer's telemetry data.

[0066] In step S103, network access configuration is performed.

[0067] Specifically, such as Figure 5 The diagram shows a ground station, which includes a ground control vehicle (main control station) and portable equipment for individual soldiers (soldier station). It is used for receiving downlink data and transmitting uplink data for the UAV, enabling UAV flight data display and control. Figure 6 The diagram shows the structure of the ground control vehicle. The ground control vehicle includes a ground data terminal and a ground display and control console. The ground data terminal loads the link monitoring software and is responsible for the UAV's communication, data reception, and transmission. The ground display and control console loads the integrated display and control software and mission monitoring software to perform network access configuration, flight, navigation, and mission planning. The ground data terminal includes a first link monitoring module, and the ground display and control console includes a first integrated display and control module and a first mission monitoring module. Figure 7The diagram shows the structure of a portable individual soldier device. This device includes a portable telemetry and control terminal and a portable monitoring device. The portable device is used for receiving downlink data and transmitting uplink data for the UAV, enabling UAV flight data display and control. The portable telemetry and control terminal loads link monitoring software, responsible for UAV communication, data reception, and transmission. The portable monitoring device loads integrated display and control software and mission monitoring software, enabling network access configuration, flight, navigation, and mission planning. The portable telemetry and control terminal includes a second link monitoring module, and the ground display and control station includes a second integrated display and control module and a second mission monitoring module. Figure 8 The diagram shown is a flowchart of the network access configuration.

[0068] After the ground control vehicle is powered on, the ground data terminal (i.e., the ground data terminal) operates, receiving downlink data frames from the UAV's airborne terminal under the default waveform mode. The operator views the UAV number in the received data frame from the first integrated display and control module, selects the UAV model to be linked for this mission, and the ground data terminal switches its internal waveform according to the UAV model. Through network access configuration, it sets the bound UAV number, UAV batch number, UAV serial number, and the ground station model controlling the aircraft (this model is used to distinguish between individual soldier stations and the ground control vehicle). The first integrated display and control module broadcasts the network access configuration message to the ground control vehicle network, notifying other modules on the ground control vehicle (i.e., the first link monitoring module and the first mission monitoring module, etc.). The operator selects the bandwidth, channel, and mission type corresponding to the UAV number to be linked, configuring the airborne and ground links with one click. The ground data terminal performs link status matching and switching according to the link configuration message, establishing link-level communication between the ground and airborne systems. Figure 9 A diagram illustrating network access configuration information. Figure 10 A schematic diagram of a link configuration frame.

[0069] In step S104, the ground data terminal sends uplink data. For example... Figure 11 The diagram shown is a flowchart illustrating the method for a ground data terminal to send uplink data.

[0070] The ground data terminal reads the ground network access configuration information through the network and adds the ground station model, UAV serial number, and UAV number to the uplink data frame. The airborne data terminal receives the uplink data frame. If the ground station model in the data frame indicates a ground control vehicle and the UAV number matches the locally stored number, the airborne data terminal forwards the uplink data frame. The flight control computer receives the uplink data frame, parses the control commands, and sends them to the relevant avionics equipment.

[0071] In step S105, the ground data terminal receives downlink data. For example... Figure 12 The diagram shows the implementation flowchart of the method for a ground data terminal to send downlink data.

[0072] The ground data terminal receives downlink data transmitted from the UAV's onboard terminal, reads the UAV model, serial number, and ground station model from the downlink data, and if these match the UAV model, serial number, and ground station model configured for network access, the ground data terminal forwards the downlink data to the first integrated display and control module. The first integrated display and control module decodes and displays the corresponding UAV according to its serial number. If the UAV model, serial number, and ground station model do not match the UAV model, serial number, and ground station model configured for network access, the ground data terminal does not process or forward the received downlink data. Figure 13 This is a diagram illustrating upstream and downstream data.

[0073] Furthermore, this example implementation also provides a method for managing multiple stations and multiple drones. (See reference...) Figure 14 As shown, the multi-station, multi-drone management method may include: step S201.

[0074] The ground control vehicle records the detailed information of the linked UAVs through uplink and downlink data, and saves the detailed information of the UAVs to a local file. The detailed information of the UAVs includes the UAV model, UAV batch number, UAV serial number, ground station model and ground station serial number. The detailed information of the UAVs can be browsed, queried and entered.

[0075] Specifically, the system manages information about drones connected to the network. The ground station module records detailed information about linked drones, including drone model, batch number, drone serial number, ground station model, and ground station serial number, using uplink and downlink data packets, and saves this information to a local file. Users can browse, query, and enter details.

[0076] Furthermore, this example implementation also provides a method for multi-site, multi-UAV access control handover. (See reference...) Figure 15 As shown, the method for handing over permissions to multiple stations and multiple drones may include steps S301 to S304.

[0077] Step S301: While the ground control vehicle and the UAV are in communication, the portable equipment for individual soldiers is set up and powered on. The portable equipment for individual soldiers starts working and repeatedly performs network access configuration to configure the network access information of the portable equipment for individual soldiers. The portable equipment for individual soldiers includes a portable telemetry and control terminal and a portable monitoring device. The network access information includes the UAV model, UAV batch number, UAV serial number and ground station model.

[0078] Step S302: Switch the receiving channel of the portable soldier device and the channel of the ground control vehicle to be the same. After the single-receiver mode link is successfully established, the portable soldier device receives downlink data. The portable soldier device compares the UAV model, UAV batch number, and UAV serial number in the downlink data with the UAV model, UAV batch number, and UAV serial number in the network access information. If they match, the portable soldier device forwards the downlink data to the portable monitoring device. The second integrated display and control module of the portable monitoring device receives and displays the data.

[0079] Step S303: The portable telemetry and control terminal sends the permission handover instruction to the airborne data terminal, which then forwards the permission handover instruction to the ground data terminal. After receiving the permission handover instruction, the first integrated display and control module is operated by the operator to confirm the permission handover. The ground data terminal forwards the permission handover permission permission instruction to the airborne data terminal. The airborne data terminal locally saves the ground station model as the portable station model. The airborne data terminal sends downlink data to the portable device. The portable telemetry and control terminal repeatedly receives downlink data. The portable telemetry and control terminal compares the ground station model, the UAV batch number, the UAV serial number, and the network access information in the downlink data. If they match, the data is forwarded to the portable monitoring device.

[0080] Step S304: The portable monitoring device sends uplink data to the airborne data terminal. If the airborne data terminal locally stores the ground station model and the ground station model in the uplink data are consistent, it forwards the uplink data to the flight control computer.

[0081] Specifically, this involves the transfer of permissions. For example... Figure 16 The diagram shown is a flowchart of the permission handover process.

[0082] The handover requires that the ground station and the UAV maintain communication, meaning that uplink and downlink data transmission and reception are normal. The portable equipment includes a portable telemetry and control terminal and a portable monitoring device. After the equipment is set up and powered on, the portable equipment starts working. The network access information for the portable equipment is configured, repeating step S103, including the portable equipment number, UAV model, and UAV serial number. The receiving channel of the portable equipment is switched to match the channel of the ground station. A link is successfully established in single-receive mode. The portable terminal receives downlink data and compares the UAV model, UAV serial number, and network access information in the telemetry data. If they match, the portable terminal forwards the downlink data to the network. The second integrated display and control module receives and displays the data. Repeat step S104: the portable terminal sends a permission handover command to the UAV. The airborne data terminal receives this command and forwards it to the ground data terminal. The first integrated display and control module receives the permission request data, and the operator clicks "confirm." The ground data terminal forwards the permission handover permission message to the airborne data terminal. The airborne data terminal locally saves the ground station model as the portable station model. The airborne data terminal sends downlink data to the portable data terminal. Repeat step S105: the portable terminal compares the ground station model, UAV model, serial number, and network access information in the downlink data. If they match, it forwards the data to the portable monitoring device. The second integrated display and control module sends uplink data to the airborne data terminal. If the airborne data terminal's locally saved ground station model matches the uplink data's ground station model, it forwards the uplink control data to the flight control computer.

[0083] Based on network access configuration and chain establishment, the system enables the handover of permissions between the ground station and the soldier's portable device at the protocol level through configuration messages such as UAV number, model, and ground station model. This satisfies the control permissions of the ground station and the soldier's programmed device for the UAV, ensures the safety of the UAV during the permission handover process, and meets the application requirements of the UAV-ground control vehicle-soldier usage chain.

[0084] In one specific embodiment, 1. Establish a unique identification rule as the drone's identity ID (i.e., identification code).

[0085] The ID includes the drone batch number and the drone serial number. The drone batch number is the fuselage paint number used during production; batch numbers are unique and visually identifiable. The drone serial number is the bytecode in the remote control and telemetry data sent by the flight control computer; this serial number is unique and program-identifiable. Connect the ID affixing device to the flight control computer, click the "View" button, and read the drone serial number stored locally on the affixing device.

[0086] The current number of the flight control computer is represented as NUM(uav, fk), and the latest number generated by the refueling device is represented as NUM(uav, jz).

[0087] The refueling device is based on an embedded domestic operating system and uses the embedded Qt language. It utilizes Qt's QSocketNotifier module to implement time-driven serial port data reading, and uses connect, SIGNAL, and SLOT methods to listen for and read serial port information.

[0088] conncet(readTimer, SIGNAL(timeout(), this, SLOT(readCom())));

[0089] Click the "View" button to use readwrite to read the local file and display it on the LED screen.

[0090] After clicking the "Generate" button and receiving the clickRnum event, a new number Num_new0 is added, and the writeTofile function is used to write the number to a local file.

[0091] When the "Send" button is clicked, the device receives the clickSend event and sends the modification command via serial port. After the flight control computer receives the command, it assigns NUM(uav, fk) the value NUM(uav, jz).

[0092] Click the "Detect" button to read NUM(uav, fk).

[0093] If NUM(uav, fk) matches the latest displayed NUM(uav, xs), then the numbering injection was successful.

[0094] 2. The airborne data terminal is built on a Field Programmable Gate Array (FPGA), developed using the Verilog language, and uses serial UART as the communication protocol. This module consists of four parts: top-level module, baud rate generator, UART receiver, and UART transmitter.

[0095] The UAV number in the cache is represented as NUM(uav, flash), the number in the downlink data is represented as NUM(uav, down), and the UAV number in the flight control computer telemetry data is represented as NUM(uav, tm).

[0096] After the device is powered on, according to the system clock, the flash storage module sends NUM(uav, flash) in the cache to the FPGA, triggering a write operation, then NUM(uav, down) = NUM(uav, flash).

[0097] Note that NUM(uav, down) is not necessarily equal to NUM(uav, tm) at this time;

[0098] The flash storage module reads NUM(uav, tm), and NUM(uav, flash) = NUM(uav, tm);

[0099] Then, after the airborne data terminal is restarted, the flash storage module will set the current NUM(uav, down)now to NUM(uav, flash), at which point NUM(uav, down)now will be equal to NUM(uav, tm).

[0100] This completes the configuration of the airborne data terminal's identity, ensuring that the UAV number in the downlink data and flight telemetry data matches. Keep the device powered on and proceed to the next step.

[0101] 3. The ground station is powered on, and the ground monitoring equipment and data terminal equipment work simultaneously.

[0102] The matrix numbers for establishing the configuration frame are defined as follows:

[0103] Create a monitoring interface "Network Configuration" dialog box, select the object checkbox, switch the configuration model to Type_uav, add QT+=network to the .pro file of the first integrated display and control module according to the configuration data frame format, and send it to the ground data terminal FPGA, switching to the waveform corresponding to Type_uav.

[0104] At this time, the ground data terminal can receive the downlink signal from the airborne terminal. Through the ground modem module, the analog signal is converted into a data signal, and the UAV number NUM(uav, down) of the downlink data frame is extracted and displayed using static QEdie.

[0105] In the "Network Access Configuration" dialog box, dynamically create checkboxes to represent the ground station model TYPE_GDT, and create a dynamic edit input box to enter the paint batch number PiNum. Create a button message; clicking it will apply the above configuration information according to the ground network access configuration frame (see attached). Figure 1 The data packet is composed of the following format:

[0106] Buf_confg(Type_uav, PiNum, NUM(uav, down), TYPE_gdt, NUM(gdt)) is sent to the ground monitoring equipment via broadcast.

[0107] In the link monitoring interface, create a "Link Configuration" dialog box. The three checkboxes are dynamically created, and each checkbox contains Bandwidth, Channel, and Link Mode. Create a Click button; clicking the button triggers an inbound configuration message, which stores the above information according to the link configuration frame (see appendix). Figure 1 The data packet is composed of the following format:

[0108] Buf_link(Type_uav, PiNum, NUM(uav, down), TYPE_GDT, BandWidth, Channel, Mode).

[0109] The writeDatagram(Buf) method is used to send data to the ground data terminal. The data terminal sends ground configuration frames and airborne configuration frames according to the configuration information, and the communication link between the ground station and the airborne equipment is successfully established.

[0110] 4. The ground monitoring equipment module uses controls such as buttons and text boxes to trigger airborne control commands, which are then sent to the ground data terminal via the network. The ground data terminal writes the variables in the ground network access configuration data packet Buf_confg from step 3 into Buf_up(Buf_confg(0), Buf_confg(2), Buf_confg(3), Buf_confg(4), command):

[0111] Before each transmission, add a frame header and use pointer manipulation:

[0112] char* buff = array.data(); buff points to the first byte of array.

[0113] The `memcpy(&num, buff, sizeof(int))` function extracts the head, and `buff += sizeof(int)`.

[0114] The digital signal is then converted into a radio frequency signal and transmitted to the airborne terminal, which receives it and makes a judgment:

[0115] If TYPE(gdt, Buf_up) == TYPE(Ground Control Vehicle),

[0116] At the same time, NUM(uav, Buf_up) == NUM(uav, flash).

[0117] The airborne data terminal then sends data to the flight control computer via a serial port.

[0118] 5. The airborne system sends downlink data frames to the ground data terminal, which converts them into data packets (Buf_down). The ground data terminal then performs the following checks:

[0119] if TYPE(gdt,Buf_down)==TYPE(Buf_confg(3)),

[0120] At the same time, NUM(uav, Buf_down) == NUM(uav, Buf_confg),

[0121] If the program determines that the data is airborne data entering the network, it will be sent to the ground monitoring equipment via the network.

[0122] 6. This step and step 3 are performed simultaneously. The computer backend extracts the information from the received ground network access configuration data packet Buf_confg and stores it locally. Database read / write operations are added to the first integrated display and control module, implemented using Qt.

[0123] Create a button called "Database Operation". Clicking the button will bring up a dialog box called "Login". The dialog box includes a username input text box and a password input text box. The program reads the data in the text boxes and logs in using the SQL database.

[0124] After successful login, the module displays a dialog box titled "Database Information." Using the Tab selection control, users can choose the table data to display, which is then presented as a list of text. A "Compose" database enable button is added below this dialog box; this button responds to mouse messages, making the data list editable. A "Save" button is then added to write the edited table data into the corresponding table.

[0125] The data in table "WRJ_Config_XX" (UAV configuration information) is as follows:

[0126] model batch number serial number Maintenance information input 1 XX 00-01 00-03 2 XX 00-02 00-02 3 XX 00-03 00-01 --- --- --- --- ---

[0127] Input the corresponding number and batch number, and use SQL to traverse and query the corresponding information in the database table.

[0128] 7. After following steps 1 to 6, power on the portable device.

[0129] On the portable second integrated display and control module, create checkboxes for channel and bandwidth switching, but ensure that the channel and bandwidth are consistent with the currently locked airborne configuration. Then, the portable telemetry and control terminal will notify the demodulator that it can receive downlink data packets (Buf_down) from the airborne terminal. Here, NUM(uav, down) is the UAV number of Buf_down.

[0130] On the portable device, follow step 3 to configure the internal network access, create the network access configuration interface and operation controls. The abbreviation for portable is BX. The configuration data packet is as follows:

[0131] Buf_confg(Type_uav, PiNum, NUM(uav, down), TYPE_BX, NUM(BX))

[0132] Create a "Permission Handover" interface on the monitoring interface. If the "Permission Request" button is clicked, the portable monitoring and control terminal will write the network access configuration information Buf_confgBX to the interface according to the method in step 4.

[0133] Buf_upBX(Buf_confgBX(0), Buf_confgBX(2), Buf_confgBX(3), Buf_confgBX(4), "Permission Request" instruction)

[0134] Then, following step 5, the airborne data terminal receives Buf_upBX and forwards the permission command. If Buf_upBX(4) = "permission command", then Buf_upBX is transmitted to the ground data terminal of the ground station via the link.

[0135] Following step 4, the ground data terminal determines whether Buf_upBX is a permission handover command. If so, the module creates a dynamic prompt box to ask the operator whether they agree to the permission handover. After receiving the confirmation message, the module assembles an uplink Buf_up(Buf_confg(0), Buf_confg(2), Buf_confg(3), Buf_confg(4), “Request for consent” instruction).

[0136] After the airborne system receives the uplink Buf_up packet forwarded by the ground data terminal, it will only receive and forward the data packets of the "portable station" model in subsequent uplink data packets.

[0137] Following the steps outlined above, the handover of control authority between the ground control vehicle and the portable station (i.e., individual soldier portable equipment) was achieved.

[0138] By employing the aforementioned multi-station, multi-UAV access, management, and permission handover methods, and using a serial numbering device for UAVs, the serial numbering of UAVs is facilitated during assembly, commissioning, and production phases. This avoids the need to rewrite the flight control computer program and modify the UAV serial number due to its uniqueness. This method reduces the workload of modules in mass production of UAVs and makes UAV serial number maintenance more convenient.

[0139] By reading the drone's serial number through the onboard terminal, the interchangeability and flexibility of the drone system are increased. If the flight control equipment on the drone malfunctions, the flight control computer can be swapped with one from a different batch of drones of the same model. Even if the drone's serial number changes in this application scenario, the method of restarting the onboard terminal and reading the serial number from the local log file still meets the system's need for rapid link establishment. This avoids the requirement that the drone's serial number and the onboard terminal must be bound together, thus fulfilling the interchangeability requirements of the drone system.

[0140] Operators can flexibly configure the system link mode for this mission according to the network access configuration process, including one-to-one, one-to-two mission drones, and one-to-two drone relay modes. The visually recognized drone batch number is mapped to the drone's internal serial number, allowing ground station operators to distinguish drones simply by their batch number when communicating with and operating the drones for missions. Operators do not require specialized link knowledge; link communication is established through interface link configuration and internal program processing.

[0141] When receiving downlink data, the ground data terminal verifies information such as the UAV number and model, increasing the fault tolerance of ground data. In the event of link instability or interference, it can filter out erroneous data, preventing erroneous data from interfering with operators and ensuring flight safety.

[0142] Based on a universal system, various UAVs can share information with a universal ground station through network configuration and link establishment. Through the ground station's network configuration, corresponding to the UAV model, the link automatically switches waveforms and information display modules switch decoding modules, thereby enabling interoperability between the ground station and other UAV models.

[0143] Based on network access configuration and chain establishment, the system enables the handover of permissions between the ground station and the soldier's portable device at the protocol level through configuration messages such as UAV number, model, and ground station model. This satisfies the control permissions of the ground station and the soldier's programmed device over the UAV, ensures the safety of the UAV during the permission handover process, and meets the application requirements of the UAV-ground station-soldier usage chain.

[0144] In embodiments of this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0145] 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 this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0146] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A method for multi-station, multi-UAV access, characterized in that, The method includes: Step S101: Unmanned Aerial Vehicle (UAV) Identification; Based on the batch number and serial number of each drone, construct the identification code for each drone and save it to a local file; Step S102: Identification of airborne data terminal; The airborne data terminal reads the UAV number from the local file, encodes the UAV number into the downlink data, and reads the UAV number from the telemetry data packet sent by the current flight control computer locally, and performs a write operation to make the UAV number in the downlink data consistent with the UAV number in the flight control computer. Step S103: Network access configuration; The ground station receives the downlink data and obtains network access configuration information by setting the UAV model that the binding task needs to link, the ground station model that controls the UAV, and the identification code in the downlink data through the network access configuration settings, so as to establish link-level communication between the ground data terminal and the airborne data terminal; wherein, the ground station model includes portable equipment for individual soldiers and ground control vehicles; Step S104: The ground data terminal sends uplink data; When the ground data terminal sends the uplink data, the ground data terminal reads the ground network access configuration information, adds the UAV model, the UAV batch number, the UAV serial number and the ground station model to the uplink data, and sends the uplink data to the airborne data terminal; Step S105: The ground data terminal receives downlink data; When the ground data terminal receives the downlink data, it receives the downlink data transmitted by the airborne data terminal, reads and determines whether the UAV model, UAV batch number, UAV serial number and ground station model in the downlink data are consistent with the UAV model, UAV batch number, UAV serial number and ground station model in the network access configuration information. If they are consistent, the ground data terminal forwards the downlink data to the first integrated display and control module.

2. The multi-station, multi-UAV access method according to claim 1, characterized in that, Step S103 includes: The first integrated display and control module in the ground station broadcasts the network access configuration information, respectively notifying the first link monitoring module and the first task monitoring module of the ground station; Select the bandwidth, channel, and mission type corresponding to the UAV number to be connected to the link, configure the airborne and ground links with one click, and generate a link configuration message; The ground data terminal performs link status matching and switching according to the link configuration message, and establishes link-level communication between the ground data terminal and the airborne data terminal.

3. The multi-station, multi-UAV access method according to claim 2, characterized in that, Step S104 includes: The airborne data terminal receives the uplink data. If the ground station model in the uplink data is the ground control vehicle, and the UAV number is consistent with the UAV number stored locally, then the airborne data terminal forwards the uplink data to the flight control computer. The flight control computer receives the uplink data and parses the control commands in the uplink data.

4. The multi-station, multi-UAV access method according to claim 3, characterized in that, Step S105 further includes: If there is a discrepancy, the ground data terminal will not process or forward the received downlink data.

5. A method for managing multiple stations and multiple unmanned aerial vehicles, characterized in that, The method for multi-station multi-UAV access according to any one of claims 1 to 4, the method comprising: The ground station records the detailed information of the linked drones through uplink and downlink data, and saves the detailed information of the drones to a local file. The detailed information of the drones includes the drone model, drone batch number, drone serial number, ground station model and ground station serial number. The detailed information of the drones can be browsed, queried and entered.

6. A method for multi-station, multi-UAV access control handover, characterized in that, The method includes: While the ground control vehicle and the UAV maintain communication, the portable equipment for individual soldiers is set up and powered on. The portable equipment starts working and repeatedly performs network access configuration to configure the network access information of the portable equipment. The portable equipment for individual soldiers includes a portable telemetry and control terminal and a portable monitoring device. The network access information includes the UAV model, UAV batch number, UAV serial number and ground station model. After successfully establishing a link in single-receive mode by switching the receiving channel of the portable soldier's device to the same channel of the ground control vehicle, the portable soldier's device receives downlink data. The portable soldier's device compares the UAV model, UAV batch number, and UAV serial number in the downlink data with the UAV model, UAV batch number, and UAV serial number in the network access information. If they match, the portable soldier's device forwards the downlink data to the portable monitoring device, and the second integrated display and control module of the portable monitoring device receives and displays the data. The portable telemetry and control terminal sends the permission handover instruction to the airborne data terminal, which then forwards the instruction to the ground data terminal. After receiving the permission handover instruction, the first integrated display and control module allows the operator to confirm the permission handover. The ground data terminal then forwards the permission handover permission permission instruction to the airborne data terminal. The airborne data terminal locally stores the ground station model as the portable device model. The airborne data terminal sends downlink data to the portable device. The portable telemetry and control terminal repeatedly receives downlink data and compares the ground station model, UAV batch number, UAV serial number, and network access information in the downlink data. If they match, the data is forwarded to the portable monitoring device. The portable monitoring device sends uplink data to the airborne data terminal. If the airborne data terminal locally stores the ground station model and the ground station model in the uplink data are the same, it forwards the uplink data to the flight control computer.

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