Unmanned aerial vehicle double-link data transmission system and method

Abstract

The invention discloses an unmanned aerial vehicle double-link data transmission system and method, the system comprises an unmanned aerial vehicle end, a ground end RTK base station and a remote controller end, the ground end RTK base station comprises a first link module and a second link module, and the ground end RTK base station transmits an RTK information packet to the unmanned aerial vehicle end through the first link module or the second link module; the remote controller end comprises a second link module, and the second link module is used for transmitting a remote control information packet of the remote controller end to the unmanned aerial vehicle end; and the unmanned aerial vehicle end comprises a receiver module, the receiver module comprises a first link chip and a second link chip, and the first link chip and the second link chip are used for receiving the RTK information packet and the remote control information packet, so that the unmanned aerial vehicle end processes the RTK information packet and the remote control information packet, and flight control of the unmanned aerial vehicle is realized. According to the invention, the flight safety of the unmanned aerial vehicle can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and more specifically to a dual-link data transmission system and method for unmanned aerial vehicles. Background Art

[0002] At present, in drone cluster performances, RTK (Real-Time Kinematic, real-time dynamic carrier phase differential technology) is an important means for drones to achieve centimeter-level positioning. In previous drone designs, drones are positioned by receiving RTK data from the ground-based RTK base station. The drones and RTK base stations communicate in the 868Mhz-915Mhz frequency band. When the 868Mhz-915Mhz frequency band is interfered with and the signal becomes weak, the drone will not be able to receive the RTK information package, resulting in the drone being unable to accurately locate or return. Incorrect flight trajectory may also cause the drone to collide with other drones and crash, greatly reducing the safety of drone flight.

[0003] In view of this, it is necessary to provide a UAV dual-link data transmission system and method that can ensure the effective transmission of RTK information packets to improve the flight safety of the UAV, thereby solving the above-mentioned defects. Summary of the invention

[0004] The purpose of the present invention is to provide a UAV dual-link data transmission system to solve the above-mentioned defects.

[0005] Another object of the present invention is to provide a UAV dual-link data transmission method to solve the above-mentioned defects.

[0006] In order to achieve the above-mentioned purpose, on the one hand, the present invention provides a dual-link data transmission system for a UAV, wherein the dual-link data transmission system for a UAV comprises a UAV end, a ground-end RTK base station and a remote control end, wherein the ground-end RTK base station comprises a first link module and a second link module, and the ground-end RTK base station transmits the RTK information packet to the UAV end through the first link module or the second link module; the remote control end comprises a second link chip, and the second link chip is used to transmit the remote control information packet of the remote control end to the UAV end; the UAV end comprises a receiver module, and the receiver module comprises a first link chip and a second link chip, and the first link chip and the second link chip are used to receive the RTK information packet and the remote control information packet, so that the UAV end processes the RTK information packet and the remote control information packet to realize the control of the UAV flight.

[0007] Its further technical solution is: the ground-end RTK base station also includes a base station MCU main control and a GPS module, and the base station MCU main control is used to package the differential information of the GPS module to generate the RTK information package.

[0008] Its further technical solution is: the base station MCU main control is also used to read the value of the RF chip register in the second link module to obtain the RSSI value, and determine whether to start link switching based on the RSSI value, so as to transmit the RTK information packet to the drone end through the second link module.

[0009] Its further technical solution is: the base station MCU main control and the first link module and the second link module perform data transmission and communication through the SPI protocol; the base station MCU main control and the GPS module perform data transmission through the serial port.

[0010] Its further technical solution is: the receiver module also includes a receiver MCU main control, and the receiver MCU main control is used to parse and package the RTK information package and the remote control information package to obtain the RTK remote control information package, and transmit the RTK remote control information package to the drone end.

[0011] Its further technical solution is: the drone end also includes a drone MCU main control, and the drone MCU main control is used to receive the RTK remote control information package, and parse the RTK remote control information package into RTK information and remote control information, so as to control the drone according to the RTK information and the remote control information.

[0012] Its further technical solution is: data is transmitted between the receiver MCU main control and the first link chip and the second link chip through the SPI protocol; data is transmitted between the receiver MCU main control and the drone MCU main control through the serial port.

[0013] A further technical solution is as follows: the remote control end also includes a remote control MCU main control, and the remote control MCU main control and the second link chip perform data transmission and communication via the SPI protocol.

[0014] Its further technical solution is: the first link module and the second link module are LoRa modules with different communication frequency bands; the first link chip and the second link chip are LoRa chips with different communication frequency bands.

[0015] In order to achieve the above-mentioned purpose, in another aspect, the present invention also provides a UAV dual-link data transmission method, comprising: the ground-end RTK base station determines whether to start link switching through the acquired RSSI value; if the ground-end RTK base station does not start link switching, the RTK information packet is transmitted to the UAV end through the first link module; if the ground-end RTK base station starts link switching, the RTK information packet is transmitted to the UAV end through the second link module; the UAV end receives the RTK information packet and the remote control information packet transmitted by the remote control end through the first link chip and the second link chip, and processes the RTK information packet and the remote control information packet to realize the control of the UAV flight.

[0016] The embodiment of the present invention provides a dual-link data transmission system and method for unmanned aerial vehicles. In the system, the ground-side RTK base station transmits the RTK information packet to the unmanned aerial vehicle side through the first link module or the second link module, and the receiver module in the unmanned aerial vehicle side receives the RTK information packet and the remote control information packet sent by the remote control side through the first link chip and the second link chip, and processes the RTK information packet and the remote control information packet to realize the control of the unmanned aerial vehicle flight, that is, the effective transmission of the RTK information packet is ensured through the dual link, and the safety of the unmanned aerial vehicle flight is improved.

[0017] The present invention will become more apparent from the following description taken in conjunction with the accompanying drawings, which are used to illustrate embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A structural block diagram of a dual-link data transmission system for an unmanned aerial vehicle provided by an embodiment of the present invention;

[0019] Figure 2 A structural block diagram of a ground-based RTK base station provided in an embodiment of the present invention;

[0020] Figure 3 A structural block diagram of a drone terminal provided by an embodiment of the present invention;

[0021] Figure 4 A structural block diagram of a remote controller provided by an embodiment of the present invention;

[0022] Figure 5 A schematic diagram of a flow chart of a method for transmitting dual-link data to a drone provided by an embodiment of the present invention;

[0023] Reference numerals:

[0024] 10. UAV dual-link data transmission system; 11. UAV end; 111. Receiver module; 1111. First link chip; 1112. Second link chip; 1113. Receiver MCU main control; 112. UAV MCU main control; 12. Ground RTK base station; 121. First link module; 122. Second link module; 123. Base station MCU main control; 124. GPS module; 13. Remote control end; 131. Remote control MCU main control. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Similar component numbers in the drawings represent similar components. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] Reference Figures 1 to 4 , Figure 1 A structural block diagram of a dual-link data transmission system for an unmanned aerial vehicle provided by an embodiment of the present invention; Figure 2 A structural block diagram of a ground-based RTK base station provided in an embodiment of the present invention; Figure 3 A structural block diagram of a drone terminal provided by an embodiment of the present invention; Figure 4The structural block diagram of the remote controller provided in the embodiment of the present invention. The unmanned aerial vehicle dual-link data transmission system 10 provided in the embodiment of the present invention includes an unmanned aerial vehicle 11, a ground-end RTK base station 12, and a remote controller 13, wherein the ground-end RTK base station 12 includes a first link module 121 and a second link module 122, and the ground-end RTK base station 12 transmits the RTK information packet to the unmanned aerial vehicle 11 through the first link module 121 or the second link module 122; the remote controller 13 includes a second link chip 1112, and the second link chip 1112 is used to transmit the remote control information packet of the remote controller 13 to the unmanned aerial vehicle 11; the unmanned aerial vehicle 11 includes a receiver module 111, and the receiver module 111 includes a first link chip 1111 and a second link chip 1112, and the first link chip 1111 and the second link chip 1112 are used to receive the RTK information packet and the remote control information packet, so that the unmanned aerial vehicle 11 processes the RTK information packet and the remote control information packet to realize the control of the unmanned aerial vehicle flight. The ground-end RTK base station 12 in this embodiment transmits the RTK information packet to the UAV end 11 through the first link module 121 or the second link module 122, and the receiver module 111 in the UAV end 11 receives the RTK information packet and the remote control information packet sent by the remote control end 13 through the first link chip 1111 and the second link chip 1112, and processes the RTK information packet and the remote control information packet to realize the control of the UAV flight, that is, through the dual link (the dual link includes the first link and the second link, the first link is composed of the first link chip 1111 and the first link module 121, and the second link is composed of the second link chip 1112 and the second link module 122), the effective transmission of the RTK information packet is ensured, thereby improving the safety of the UAV flight.

[0027] In some embodiments, such as the present embodiment, Figure 2As shown, the ground-side RTK base station 12 also includes a base station MCU main control 123 and a GPS module 124, and the base station MCU main control 123 is used to package the differential information of the GPS module 124 to generate the RTK information packet. Specifically, the base station MCU main control 123 is also used to read the value of the radio frequency chip register in the second link module 122 to obtain the RSSI value, and determine whether to start the link switching according to the RSSI value, so as to transmit the RTK information packet to the drone end 11 through the second link module 122. More specifically, the base station MCU main control 123 and the first link module 121 and the second link module 122 communicate with each other through the SPI protocol for data transmission; the base station MCU main control 123 and the GPS module 124 communicate with each other through the serial port. It should be noted that in this embodiment, the SPI (Serial Peripheral Interface) protocol is a high-speed, full-duplex, synchronous communication protocol, which is mainly used for data transmission between a microcontroller (MCU) and an external device. The SPI protocol is simple, flexible and efficient. The base station MCU main control 123 is an STM32F103 chip, which is a high-performance 32-bit microcontroller based on the ARM Cortex-M3 core, with an operating frequency of up to 72MHz, and has powerful processing power and computing performance. It is widely used in various embedded systems and electronic devices, and is particularly suitable for application scenarios that require high performance and rich peripherals. RSSI (Received Signal Strength Indicator) is an indicator of radio signal strength, which is used to evaluate the signal quality of wireless communication links. RSSI values ​​are usually expressed as negative numbers in dBm (decibel milliwatts). The closer the value is to zero, the higher the signal strength; the smaller the value, the weaker the signal strength. It should also be noted that, in the present embodiment, the base station MCU main control 123 determines whether to start link switching according to the RSSI value. Specifically, if the RSSI value is greater than the RSSI threshold, it is determined that the communication quality of the first link module 121 is good, and there is no need to start link switching, and the first link module 121 continues to transmit the RTK information packet; if the RSSI value is not greater than the RSSI threshold, it is determined that the communication of the first link model is weak or is interrupted, and it is necessary to start link switching and transmit the RTK information packet through the second link module 122. In the present embodiment, the RSSI threshold can be set to -95dBm. In other embodiments, the RSSI threshold can be set according to actual needs and is not specifically limited here.It should be further explained that, in this embodiment, the first link module 121 and the second link module 122 are LoRa modules of different communication frequency bands. Specifically, the first link module 121 is a LoRa module of the 915MHz communication frequency band, and the second link module 122 is a LoRa module of the 2.4GMHz communication frequency band. The LoRa module is a wireless communication module based on the LoRaWAN technology, which is mainly used for low-power and long-distance Internet of Things applications. It is understandable that the ground-side RTK base station 12 also includes a sensor module, which is used to detect the location information required by the ground-side RTK base station 12.

[0028] In some embodiments, such as the present embodiment, Figure 3 As shown, the receiver module 111 also includes a receiver MCU main control 1113, which is used to parse and package the RTK information packet and the remote control information packet to obtain the RTK remote control information packet, and transmit the RTK remote control information packet to the drone end 11. Specifically, the drone end 11 also includes a drone MCU main control 112, which is used to receive the RTK remote control information packet, and parse the RTK remote control information packet into RTK information and remote control information, so as to control the drone according to the RTK information and the remote control information. More specifically, the receiver MCU main control 1113 and the first link chip 1111 and the second link chip 1112 are used to transmit data through the SPI protocol; the receiver MCU main control 1113 and the drone MCU main control 112 are used to transmit data through the serial port. It should be noted that in this embodiment, the receiver MCU main control 1113 and the drone MCU main control 112 are both STM32F103 chips. It should also be noted that, in this embodiment, the first link chip 1111 and the second link chip 1112 are LoRa chips of different communication frequency bands. Specifically, the first link chip 1111 is a LoRa chip of the 915MHz communication frequency band, and the second link chip 1112 is a LoRa chip of the 2.4GMHz communication frequency band. The LoRa chip is a low-power LAN wireless standard chip, which is widely used in many fields. It should also be noted that, in this embodiment, the receiver MCU main control 1113 will add different command codes to the RTK information packet and the remote control information packet according to the custom protocol. After the drone MCU main control 112 receives the RTK remote control information packet, it identifies the RTK information packet and the remote control information packet in the RTK remote control information packet according to the command code, so as to parse the RTK information packet and the remote control information packet to obtain RTK information and remote control information.

[0029] In some embodiments, such as the present embodiment, Figure 4 As shown, the remote control end 13 also includes a remote control MCU main control 131, and the remote control MCU main control 131 and the second link chip 1112 perform data transmission and communication via the SPI protocol. It can be understood that the remote control end 13 can control the flight attitude of the drone. It should be noted that in this embodiment, the remote control MCU main control 131 is also a STM32F103 chip.

[0030] Reference Figure 5 , Figure 5 The flowchart of a method for transmitting dual-link data to a UAV provided by an embodiment of the present invention is shown. The method for transmitting dual-link data to a UAV is applied to the above-mentioned dual-link data transmission system for UAV. The specific implementation steps of the dual-link data transmission system for UAV provided by the present invention are further described in detail below. Figure 5 As shown, the method includes steps S110-S140:

[0031] S110, the ground-side RTK base station determines whether to start link switching based on the acquired RSSI value;

[0032] S120: If the ground-side RTK base station does not start link switching, the RTK information packet is transmitted to the UAV side through the first link module;

[0033] S130: If the ground-side RTK base station starts link switching, the RTK information packet is transmitted to the UAV side through the second link module;

[0034] S140: The unmanned end receives the RTK information packet and the remote control information packet transmitted by the remote control end through the first link chip and the second link chip, and processes the RTK information packet and the remote control information packet to realize the control of the flight of the unmanned aerial vehicle.

[0035] In an embodiment of the present invention, the UAV dual-link data transmission system includes a UAV end, a ground-end RTK base station and a remote control end, wherein the ground-end RTK base station includes a first link module, a second link module, a base station MCU main control and a GPS module, the UAV end includes a receiver module and a UAV MCU main control, the receiver module includes a receiver MCU main control, a first link chip and a second link chip, and the remote control end includes a remote control MCU main control and a second link chip. The ground-end RTK base station determines whether to start link switching based on the acquired RSSI value. Specifically, if the RSSI value is greater than the RSSI threshold, it is determined that there is no need to start link switching; if the RSSI value is not greater than the RSSI threshold, it is determined that link switching needs to be started; if the ground-end RTK base station does not start link switching, the RTK information packet is transmitted to the UAV end through the first link module; if the ground-end RTK base station starts link switching, the RTK information packet is transmitted to the UAV end through the second link module; the UAV end receives the RTK information packet and the remote control information packet transmitted by the remote control end through the first link chip and the second link chip, and processes the RTK information packet and the remote control information packet to obtain RTK information and remote control information, and controls the flight of the UAV according to the RTK information and remote control information.

[0036] In summary, in this embodiment, by integrating the LoRa chip of the 915MHz communication frequency band and the LoRa chip of the 2.4GHz communication frequency band into the receiver module of the drone end, the RTK information packet and the remote control information packet can be sent and received at the same time; by integrating the LoRa module of the 915MHz communication frequency band and the LoRa module of the 2.4GHz communication frequency band into the ground-end RTK base station, the LoRa module of the 2.4GHz communication frequency band is used as a backup link for transmitting the RTK information packet. When the LoRa module of the 915MHz communication frequency band is interfered or the signal quality is poor, the link can be switched, achieving safer and more stable communication, that is, improving the safety of drone flight and ensuring the safe performance flight of the drone cluster. And after the integration of the drone end and the ground end RTK, the volume is smaller, which is more conducive to the lightweight design of the drone.

[0037] The present invention has been described above in conjunction with the best embodiments, but the present invention is not limited to the embodiments disclosed above, but should cover various modifications and equivalent combinations based on the essence of the present invention.

Claims

1. A dual-link data transmission system for unmanned aerial vehicles, characterized in that: The UAV dual-link data transmission system includes a UAV end, a ground RTK base station and a remote controller end, wherein: The ground-end RTK base station includes a first link module and a second link module, and the ground-end RTK base station transmits the RTK information packet to the drone end through the first link module or the second link module; The remote controller end includes a second link chip, and the second link chip is used to transmit the remote control information packet of the remote controller end to the drone end; The drone end includes a receiver module, and the receiver module includes a first link chip and a second link chip. The first link chip and the second link chip are used to receive the RTK information packet and the remote control information packet, so that the drone end processes the RTK information packet and the remote control information packet to achieve control of the drone flight.

2. The unmanned aerial vehicle dual-link data transmission system according to claim 1, characterized in that: The ground-end RTK base station also includes a base station MCU main control and a GPS module. The base station MCU main control is used to package the differential information of the GPS module to generate the RTK information package.

3. The unmanned aerial vehicle dual-link data transmission system according to claim 2, characterized in that: The base station MCU main control is also used to read the value of the RF chip register in the second link module to obtain the RSSI value, and determine whether to start link switching based on the RSSI value, so as to transmit the RTK information packet to the drone end through the second link module.

4. The unmanned aerial vehicle dual-link data transmission system according to claim 3, characterized in that: The base station MCU main control and the first link module and the second link module perform data transmission and communication via the SPI protocol; the base station MCU main control and the GPS module perform data transmission and communication via the serial port.

5. The unmanned aerial vehicle dual-link data transmission system according to claim 1, characterized in that: The receiver module also includes a receiver MCU main control, which is used to parse and package the RTK information packet and the remote control information packet to obtain the RTK remote control information packet, and transmit the RTK remote control information packet to the drone end.

6. The unmanned aerial vehicle dual-link data transmission system according to claim 5, characterized in that: The drone end also includes a drone MCU main control, which is used to receive the RTK remote control information package and parse the RTK remote control information package into RTK information and remote control information, so as to control the drone according to the RTK information and the remote control information.

7. The unmanned aerial vehicle dual-link data transmission system according to claim 6, characterized in that: The receiver MCU main control and the first link chip and the second link chip perform data transmission through the SPI protocol; the receiver MCU main control and the drone MCU main control perform data transmission through the serial port.

8. The unmanned aerial vehicle dual-link data transmission system according to claim 1, characterized in that: The remote controller also includes a remote control MCU main control, and the remote control MCU main control and the second link chip perform data transmission and communication via the SPI protocol.

9. The unmanned aerial vehicle dual-link data transmission system according to claim 1, characterized in that: The first link module and the second link module are LoRa modules of different communication frequency bands; the first link chip and the second link chip are LoRa chips of different communication frequency bands.

10. A method for transmitting data via a dual-link UAV link, applied to the dual-link UAV link data transmission system according to any one of claims 1 to 9, characterized in that: include: The ground-side RTK base station determines whether to start link switching based on the RSSI value obtained; If the ground-side RTK base station does not start link switching, the RTK information packet is transmitted to the UAV side through the first link module; If the ground-side RTK base station starts link switching, the RTK information packet is transmitted to the UAV side through the second link module; The unmanned end receives the RTK information packet and the remote control information packet transmitted by the remote control end through the first link chip and the second link chip, and processes the RTK information packet and the remote control information packet to realize the control of the flight of the unmanned aerial vehicle.

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