Dual-link data transmission system and method for unmanned aerial vehicle

Abstract

The present invention discloses a dual-link data transmission system and method for an unmanned aerial vehicle. The system includes an unmanned aerial vehicle end, a ground RTK base station, and a remote control end. Among them, the ground RTK base station includes a first link module and a second link module. The ground RTK base station transmits RTK information packets to the unmanned aerial vehicle end through the first link module or the second link module. The remote control end includes a second link module, and the second link module is used to transmit the remote control information packets of the remote control end to the unmanned aerial vehicle end. The unmanned aerial vehicle 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 packets and the remote control information packets, so that the unmanned aerial vehicle end processes the RTK information packets and the remote control information packets to realize the control of the flight of the unmanned aerial vehicle. Implementing the present invention can improve the flight safety of the unmanned aerial vehicle.

Description

Technical Field

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

[0002] Currently, in unmanned aerial vehicle cluster performances, RTK (Real-Time Kinematic) is an important means for unmanned aerial vehicles to achieve centimeter-level positioning. In previous unmanned aerial vehicle designs, the unmanned aerial vehicle terminal locates by receiving RTK data from a ground RTK base station. The unmanned aerial vehicle and the RTK base station communicate in the 868Mhz - 915Mhz frequency band. When the 868Mhz - 915Mhz frequency band is interfered with and the signal becomes weak, the unmanned aerial vehicle cannot receive the RTK information packet, resulting in the unmanned aerial vehicle being unable to accurately locate or return, and the incorrect flight trajectory may also cause the unmanned aerial vehicle to collide and crash with other unmanned aerial vehicles, greatly reducing the flight safety of the unmanned aerial vehicle.

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

[0004] The purpose of the present invention is to provide a dual-link data transmission system for unmanned aerial vehicles to solve the above defects.

[0005] Another purpose of the present invention is to provide a dual-link data transmission method for unmanned aerial vehicles to solve the above defects.

[0006] To achieve the above purpose, on the one hand, the present invention provides a dual-link data transmission system for unmanned aerial vehicles. The dual-link data transmission system for unmanned aerial vehicles includes an unmanned aerial vehicle terminal, a ground RTK base station, and a remote control terminal. Among them, the ground RTK base station includes a first link module and a second link module, and the ground RTK base station transmits the RTK information packet to the unmanned aerial vehicle terminal through the first link module or the second link module; the remote control terminal includes a second link chip, and the second link chip is used to transmit the remote control information packet of the remote control terminal to the unmanned aerial vehicle terminal; the unmanned aerial vehicle terminal includes a receiver module, and the receiver module includes a first link chip and the 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 unmanned aerial vehicle terminal processes the RTK information packet and the remote control information packet to realize the control of the flight of the unmanned aerial vehicle.

[0007] Its further technical solution is: the ground RTK base station further 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 packet.

[0008] Its further technical solution is: the base station MCU main control is further used to read the value of the RF chip register in the second link module to obtain the RSSI value, and determine whether to initiate link switching according to 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: data transmission communication between the base station MCU main control and the first link module and the second link module is carried out through the SPI protocol; data transmission between the base station MCU main control and the GPS module is carried out through a serial port.

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

[0011] Its further technical solution is: the drone end further includes a drone MCU main control, and the drone MCU main control 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.

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

[0013] Its further technical solution is: the remote control end further includes a remote control MCU main control, and data transmission communication between the remote control MCU main control and the second link chip is carried out through the SPI protocol.

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

[0015] To achieve the above object, in another aspect, the present invention further provides a method for dual-link data transmission of an unmanned aerial vehicle (UAV), including: the ground RTK base station determines whether to initiate link switching based on the obtained RSSI value; if the ground RTK base station does not initiate link switching, it transmits the RTK information packet to the UAV end through the first link module; if the ground RTK base station initiates link switching, it transmits the RTK information packet to the UAV end through the second link module; the UAV end receives the RTK information packet and the remote control information packet transmitted from 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 achieve control of the flight of the UAV.

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

[0017] Through the following description and in combination with the accompanying drawings, the present invention will become clearer. These drawings are used to explain the embodiments of the present invention. Description of the Drawings

[0018] Figure 1 It is 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 It is a structural block diagram of the ground RTK base station provided by an embodiment of the present invention;

[0020] Figure 3 It is a structural block diagram of the UAV end provided by an embodiment of the present invention;

[0021] Figure 4 It is a structural block diagram of the remote control end provided by an embodiment of the present invention;

[0022] Figure 5 It is a schematic flowchart of a method for dual-link data transmission of an unmanned aerial vehicle provided by an embodiment of the present invention;

[0023] Reference Signs:

[0024] 10. UAV dual-link data transmission system; 11. UAV side; 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 side; 131. Remote control MCU main control. Detailed implementation manners

[0025] The following will clearly and completely describe the technical solutions in the embodiments with reference to the accompanying drawings in the embodiments of the present invention. Similar component labels in the drawings represent similar components. Obviously, the embodiments described below are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0026] Refer to Figures 1 to 4 , Figure 1 which is a structural block diagram of a UAV dual-link data transmission system provided by an embodiment of the present invention; Figure 2 which is a structural block diagram of a ground RTK base station provided by an embodiment of the present invention; Figure 3 which is a structural block diagram of the UAV side provided by an embodiment of the present invention; Figure 4It is a block diagram of the remote control end provided by an embodiment of the present invention. The dual-link data transmission system 10 of the unmanned aerial vehicle provided by the embodiment of the present invention includes an unmanned aerial vehicle end 11, a ground RTK base station 12, and a remote control end 13. Among them, the ground RTK base station 12 includes a first link module 121 and a second link module 122, and the ground RTK base station 12 transmits RTK information packets to the unmanned aerial vehicle end 11 through the first link module 121 or the second link module 122; the remote control end 13 includes a second link chip 1112, and the second link chip 1112 is used to transmit the remote control information packets of the remote control end 13 to the unmanned aerial vehicle end 11; the unmanned aerial vehicle end 11 includes a receiver module 111, and the receiver module 111 includes a first link chip 1111 and the second link chip 1112. The first link chip 1111 and the second link chip 1112 are used to receive the RTK information packets and the remote control information packets, so that the unmanned aerial vehicle end 11 processes the RTK information packets and the remote control information packets to realize the control of the flight of the unmanned aerial vehicle. In this embodiment, the ground RTK base station 12 transmits the RTK information packets to the unmanned aerial vehicle end 11 through the first link module 121 or the second link module 122. The receiver module 111 in the unmanned aerial vehicle end 11 receives the RTK information packets and the remote control information packets sent by the remote control end 13 through the first link chip 1111 and the second link chip 1112, and processes the RTK information packets and the remote control information packets to realize the control of the flight of the unmanned aerial vehicle. That is, through a dual-link (the dual-link includes a first link and a 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 packets is ensured, and the flight safety of the unmanned aerial vehicle is improved.

[0027] In some embodiments, such as this embodiment, as Figure 2As shown, the ground RTK base station 12 further includes a base station MCU main control 123 and a GPS module 124. 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 further 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 initiate link switching based on the RSSI value, so as to transmit the RTK information packet to the drone end 11 through the second link module 122. More specifically, data transmission and communication between the base station MCU main control 123 and the first link module 121 and the second link module 122 are carried out through the SPI protocol; data transmission between the base station MCU main control 123 and the GPS module 124 is carried out through a 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, mainly used for data transmission between a microcontroller (MCU) and external devices. The SPI protocol has the characteristics of simplicity, flexibility, and high efficiency. The base station MCU main control 123 is an STM32F103 chip. The STM32F103 chip is a high-performance 32-bit microcontroller, based on the ARM Cortex-M3 core, with a working frequency of up to 72MHz, having powerful processing capabilities and computing performance. It is widely used in various embedded systems and electronic devices, especially suitable for application scenarios that require high performance and rich peripherals. RSSI (Received Signal Strength Indicator) is an index for measuring the strength of a radio signal, used to evaluate the signal quality of a wireless communication link. The RSSI value is usually represented as a negative number, with the unit of dBm (decibel milliwatt). 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 this embodiment, the base station MCU main control 123 determines whether to initiate link switching based on 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 initiate link switching, and the first link module 121 continues to transmit the RTK information packet; if it is not greater than the RSSI threshold, it is determined that the communication of the first link model is weak or the link is interrupted by interference, and link switching needs to be initiated, and the RTK information packet is transmitted through the second link module 122. In this 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 noted 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 in the 915 MHz communication frequency band, and the second link module 122 is a LoRa module in the 2.4 GHz communication frequency band. The LoRa module is a wireless communication module based on LoRaWAN technology, mainly used for low-power long-distance Internet of Things applications. Understandably, the ground RTK base station 12 further includes a sensor module, and the sensor module is used to detect the position information required by the ground RTK base station 12.

[0028] In some embodiments, such as this embodiment, as Figure 3 shown, the receiver module 111 further includes a receiver MCU main control 1113. The receiver MCU main control 1113 is used to parse and package the RTK information packet and the remote control information packet to obtain an RTK remote control information packet, and transmit the RTK remote control information packet to the drone side 11. Specifically, the drone side 11 further includes a drone MCU main control 112. The drone MCU main control 112 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, data transmission between the receiver MCU main control 1113 and the first link chip 1111 and the second link chip 1112 is carried out through the SPI protocol; data transmission between the receiver MCU main control 1113 and the drone MCU main control 112 is carried out through a serial port. It should be noted that, in this embodiment, both the receiver MCU main control 1113 and the drone MCU main control 112 are 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 in the 915 MHz communication frequency band, and the second link chip 1112 is a LoRa chip in the 2.4 GHz communication frequency band. The LoRa chip is a chip of a low-power local area network wireless standard and is widely used in multiple fields. It should be further 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 a custom protocol. After receiving the RTK remote control information packet, the drone MCU main control 112 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 this embodiment, as Figure 4 shown, the remote control end 13 further includes a remote control MCU main control 131, and data transmission communication is carried out between the remote control MCU main control 131 and the second link chip 1112 through the SPI protocol. Understandably, 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 an STM32F103 chip.

[0030] Referring to Figure 5 , Figure 5 shows a schematic flowchart of a method for dual-link data transmission of a drone provided by an embodiment of the present invention. This method for dual-link data transmission of a drone is applied to the above-mentioned drone dual-link data transmission system. The following further elaborates the specific implementation steps of the drone dual-link data transmission system of the present invention in detail with this method. As Figure 5 shown, this method includes steps S110 - S140:

[0031] S110. The ground RTK base station determines whether to initiate link switching based on the obtained RSSI value;

[0032] S120. If the ground RTK base station does not initiate link switching, the RTK information packet is transmitted to the drone end through the first link module;

[0033] S130. If the ground RTK base station initiates link switching, the RTK information packet is transmitted to the drone end through the second link module;

[0034] S140. The drone 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 achieve control of the drone flight.

[0035] In an embodiment of the present invention, a dual-link data transmission system for an unmanned aerial vehicle (UAV) includes a UAV end, a ground RTK base station, and a remote control end. Among them, the ground 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. The remote control end includes a remote control MCU main control and a second link chip. The ground RTK base station determines whether to initiate link switching based on the acquired RSSI value. Specifically, if the RSSI value is greater than the RSSI threshold, it is determined that link switching does not need to be initiated; if it is not greater than the RSSI threshold, it is determined that link switching needs to be initiated; if the ground RTK base station does not initiate link switching, the RTK information packet is transmitted to the UAV end through the first link module; if the ground RTK base station initiates 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, 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 the remote control information.

[0036] In summary, in this embodiment, by integrating the LoRa chip in the 915 MHz communication band and the LoRa chip in the 2.4 GHz communication band into the receiver module of the UAV end, the RTK information packet and the remote control information packet can be simultaneously sent and received; by integrating the LoRa module in the 915 MHz communication band and the LoRa module in the 2.4 GHz communication band into the ground RTK base station, and using the LoRa module in the 2.4 GHz communication band as a backup link for transmitting the RTK information packet, when the LoRa module in the 915 MHz communication band is interfered or has poor signal quality, link switching can be performed, realizing safer and more stable communication, that is, improving the flight safety of the UAV and ensuring the safe performance flight of the UAV cluster. And after integrating the UAV end and the ground RTK, the volume is smaller, which is more conducive to the lightweight design of the UAV.

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

Claims

1. A dual-link data transmission system for an unmanned aerial vehicle, characterized in that The UAV dual-link data transmission system includes a UAV end, a ground RTK base station, and a remote control end. Among them, the ground RTK base station includes a first link module and a second link module. The ground RTK base station transmits RTK information packets to the UAV end through the first link module or the second link module; the remote control end includes 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 includes a receiver module, and the receiver module includes a first link chip and the 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 UAV end processes the RTK information packet and the remote control information packet to realize the control of the UAV flight; the ground RTK base station further 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 packet; the base station MCU main control is further used to read the value of the radio frequency chip register in the second link module to obtain the RSSI value, and judge whether to start link switching according to the RSSI value, so as to transmit the RTK information packet to the UAV end through the second link module. The step of judging whether to start link switching according to the RSSI value includes: if the RSSI value is greater than the RSSI threshold, it is determined that the communication quality of the first link module is good and there is no need to start link switching, and the first link module is continued to be used 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 module is weak or the link is interrupted by interference, and link switching needs to be started to transmit the RTK information packet through the second link module; the receiver module further includes a receiver MCU main control, and the receiver MCU main control is used to perform parsing and packaging processing on the RTK information packet and the remote control information packet to obtain an RTK remote control information packet, and transmit the RTK remote control information packet to the UAV end; the UAV end further includes a UAV MCU main control, and the UAV MCU main control 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 realize the control of the UAV according to the RTK information and the remote control information; the remote control end further includes a remote control MCU main control, and data transmission communication between the remote control MCU main control and the second link chip is carried out through the SPI protocol.

2. The drone dual-link data transmission system according to claim 1, characterized in that Data transmission communication between the base station MCU main control and the first link module and the second link module is carried out through the SPI protocol; data transmission between the base station MCU main control and the GPS module is carried out through a serial port.

3. The drone dual-link data transmission system according to claim 1, wherein Data transmission between the receiver MCU main control and the first link chip and the second link chip is carried out through the SPI protocol; data transmission between the receiver MCU main control and the UAV MCU main control is carried out through a serial port.

4. The drone dual-link data transmission system according to claim 1, characterized in that, The first link module and the second link module are LoRa modules operating in different communication frequency bands; the first link chip and the second link chip are LoRa chips operating in different communication frequency bands.

5. A method for dual-link data transmission of an unmanned aerial vehicle, which is applied to the unmanned aerial vehicle dual-link data transmission system according to any one of claims 1-4, characterized in that, It includes: The ground RTK base station determines whether to initiate link switching based on the acquired RSSI value; If the ground RTK base station does not initiate link switching, the RTK information packet is transmitted to the drone end through the first link module; If the ground RTK base station initiates link switching, the RTK information packet is transmitted to the drone end through the second link module; The drone end receives the RTK information packet and the remote control information packet transmitted from 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 achieve control of the drone flight.

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