A multi-machine ground test, launch and control system and method

Abstract

The present invention discloses a multi-machine ground test, launch and control system and method, wherein the system includes: an integrated control ground station, a launcher control terminal and a power distribution exchange box; the power distribution exchange box is respectively connected to the integrated control ground station and the launcher control terminal for power supply; the integrated control ground station is communicatively connected to the launcher control terminal, and the integrated control ground station is used to manage the unmanned aerial vehicle connected to the launcher control terminal through the launcher control terminal; the launcher control terminal is used to exchange data between the unmanned aerial vehicle and the integrated control ground station. The system provided by the embodiment of the present invention can realize the test, launch and control in the multi-unmanned aerial vehicle scenario, and uniformly manage various unmanned aerial vehicle business modules, which can reduce the difficulty of unmanned aerial vehicle deployment, improve the accuracy of testing and control, reduce labor cost and enhance user experience.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle control, and in particular to a multi-aircraft ground test, launch and control system and method. Background Art

[0002] The multi-machine ground test, launch and control system of unmanned aerial vehicles can be a system that integrates comprehensive testing, launch control, command control and other functions. The multi-machine ground test, launch and control system is used to ensure the performance of electrical equipment and pyrotechnics in the mission of unmanned aerial vehicles for testing and control. At present, in the flight mission support of unmanned aerial vehicles, there are generally multiple systems to support the mission from testing to launching. The software and hardware differences between different systems are large, and the technical paths are different. Based on product development and on-site mission support needs, a system is generally configured separately for the use scenarios of unmanned aerial vehicles. However, with the continuous improvement of the rapid deployment accuracy and launch requirements of unmanned aerial vehicles, the test mode of each business module in the system fighting alone has increasingly reflected its shortcomings and deficiencies: high labor costs, long test preparation time, too scattered system test data, inconvenient on-site system communication, and on-site personnel cannot fully understand the preparation progress of the unmanned aerial vehicle and the operating status of the equipment, resulting in low work efficiency and high maintenance costs. Summary of the invention

[0003] The present invention provides a multi-machine ground test, launch and control system and method to realize the test, launch and control system of unmanned aerial vehicles in a multi-machine scenario, which can realize the unified management of various unmanned aerial vehicle business modules, reduce the difficulty of unmanned aerial vehicle deployment, improve the accuracy of testing and control, reduce labor cost expenditure, and improve user experience.

[0004] According to one aspect of the present invention, a multi-machine ground test and launch control system is provided, wherein the system comprises: an integrated control ground station, a launcher control terminal and a power distribution switch box;

[0005] The power distribution exchange box is respectively connected to the integrated control ground station and the launcher control terminal for power supply;

[0006] The integrated control ground station is communicatively connected to the launcher control terminal, and the integrated control ground station is used to manage the unmanned aerial vehicle connected to the launcher control terminal through the launcher control terminal;

[0007] The launcher control terminal is used for data exchange between the unmanned aerial vehicle and the integrated control ground station.

[0008] According to another aspect of the present invention, a multi-machine ground test, launch and control method is provided, which is applied to an integrated control ground station, wherein the integrated control ground station at least includes a flight inspection module, a communication module, a data monitoring module and a data recording module, and the integrated control ground station is communicatively connected to a launcher control terminal, and the integrated control ground station is used to manage the unmanned aerial vehicle connected to the launcher control terminal through the launcher control terminal, and the launcher control terminal is used to perform data exchange between the unmanned aerial vehicle and the integrated control ground station, wherein the method includes:

[0009] Based on the flight inspection module, a function inspection is performed on the unmanned aerial vehicle connected to the launcher control terminal before performing a flight mission;

[0010] Sending control instructions to the unmanned aerial vehicle via the launcher control terminal according to the communication module;

[0011] Monitoring the status data of the unmanned aerial vehicle forwarded by the launcher control terminal based on the data monitoring module;

[0012] The data information of the status data is parsed according to the data recording module and the data information is recorded.

[0013] The technical solution of the embodiment of the present invention discloses a multi-machine ground test, launch and control system, wherein the system at least includes an integrated control ground station, a launcher control terminal and a power distribution exchange box, the power distribution exchange box is respectively connected to the launcher control terminal and the integrated control ground station, and is used to supply power to the integrated control ground station and the launcher control terminal, the integrated control ground station is communicatively connected to the launcher control terminal, the integrated control ground station realizes management and control of the unmanned aerial vehicle connected to the launcher control terminal by controlling the launcher control terminal, and the launcher control terminal can realize various data interactions between the unmanned aerial vehicle and the integrated control ground station, the multi-machine ground test, launch and control system provided by the embodiment of the present invention performs unified control and management of the unmanned aerial vehicle through the integrated control ground station, realizes standardized control of the unmanned aerial vehicle business, can reduce the difficulty of deploying multiple unmanned aerial vehicles in different scenarios, and is compatible with various data interaction modes between the integrated control ground and the unmanned aerial vehicle based on the launcher control terminal, can simplify the data interaction process of the unmanned aerial vehicle test, launch and control process, can ensure the accuracy of information transmission, improve the accuracy of testing and control, reduce labor cost expenditure, and improve user experience.

[0014] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 is a structural example diagram of a multi-machine ground test, launch and control system provided according to an embodiment of the present invention;

[0017] Figure 2 is a structural example diagram of a launcher control terminal provided according to an embodiment of the present invention;

[0018] Figure 3 is a structural schematic diagram of a power distribution exchange box provided according to an embodiment of the present invention;

[0019] Figure 4 is a flow chart of a multi-machine ground test, launch and control method provided according to an embodiment of the present invention;

[0020] Figure 5 is a flow chart of another multi-machine ground measurement, launch and control method provided according to an embodiment of the present invention;

[0021] Figure 6 is a structural example diagram of a multi-machine ground test, launch and control system provided according to an embodiment of the present invention;

[0022] Figure 7 is an example diagram of a functional architecture of an integrated control ground station provided according to an embodiment of the present invention;

[0023] Figure 8 is an example diagram of a test process of an integrated control ground station provided according to an embodiment of the present invention;

[0024] Fig. 9 It is a structural schematic diagram of an electronic device for implementing the multi-machine ground measurement, launch and control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments 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 should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Figure 1 It is a structural example diagram of a multi-machine ground test, launch and control system provided according to an embodiment of the present invention. This embodiment is applicable to the test, launch and control performed by multiple unmanned aerial vehicles in multiple scenarios. The system may include an integrated control ground station 110, a launcher control terminal 120 and a power distribution switch box 130. The power distribution switch box 130 is respectively connected to the integrated control ground station 110 and the launcher control terminal 120 for power supply; the integrated control ground station 110 is communicatively connected to the launcher control terminal 120, and the integrated control ground station 110 is used to manage the unmanned aerial vehicle connected to the launcher control terminal 120 through the launcher control terminal 120; the launcher control terminal 120 is used to exchange data between the unmanned aerial vehicle and the integrated control ground station 110.

[0028] Among them, the integrated control ground station 110 can be a host for executing multi-machine ground test, launch and control. The integrated control ground station 110 can be implemented by one or more computer terminals. The integrated control ground station 110 can be configured with software and / or hardware devices, which can control the business functions of multi-machine test, launch and control. Unmanned aerial vehicles can be devices with flight functions, and unmanned aerial vehicles include but are not limited to drones, target drones, target missiles, etc. In some embodiments of the invention, the integrated control ground station 110 can be configured with a test, launch and control function module, which includes but is not limited to:

[0029] A communication module, the communication module sends the first communication data to the launcher control terminal through the configured communication protocol, controls the launcher control terminal to forward the first communication data to the unmanned aerial vehicle, and receives the second communication data of the unmanned aerial vehicle forwarded by the launcher control terminal through the communication protocol;

[0030] The route planning module is used to obtain flight waypoints and flight actions according to the pre-configured flight map;

[0031] A flight control module, the flight control module is used to send unmanned aerial vehicle control instructions to the channel range, wherein the unmanned aerial vehicle control instructions include at least one of program control instructions and climb control instructions;

[0032] Security control module: The security control module is used to plan the security control area and bind the security control parameters of the unmanned aerial vehicle;

[0033] A data monitoring module, the data monitoring module is used to monitor the status information of the unmanned aerial vehicle, wherein the status information includes at least one of the flight status, position, flight attitude, and speed;

[0034] A flight inspection module is used to perform a functional test on the unmanned aerial vehicle before performing a flight mission, wherein the functional test includes at least one of an electrical unit test, an pyrotechnic resistance test, an integrated navigation test, a rudder system test, and a ground equipment test;

[0035] A mission load management module, the mission load management module is used to manage the mission load of the unmanned aerial vehicle, wherein the mission load management includes at least one of monitoring, testing, power-on control and mode conversion;

[0036] A data recording module, the data recording module is used to perform data record management on the data records, wherein the data record management includes at least one of data recording, data playback, and data analysis;

[0037] A posture display module, the posture display mode is used to globally display the coordinated posture information of the unmanned aerial vehicle;

[0038] The simulation and training module is used to generate virtual unmanned aerial vehicles and simulate virtual tasks and perform flight simulation training.

[0039] In an embodiment of the present invention, the communication module may be configured with one or more communication protocols, and the communication module may provide a calling interface of the communication protocol. The integrated control ground station may use the communication protocol by loading the calling interface of the communication module. The first communication data may be data transmitted from the integrated control ground station to the unmanned aerial vehicle, and the second communication data may be data fed back from the unmanned aerial vehicle to the integrated control ground station. The first communication data may include information for controlling the unmanned aerial vehicle, for example, the first communication data includes information for controlling the downlink of the Global Navigation Satellite System (GNSS) data, information for controlling the downlink of the Inertial Measurement Unit (IMU) data, information for checking the pyrotechnic resistor for the wing deployment, information for checking the pyrotechnic resistor for the booster separation, information for checking the pyrotechnic resistor for the parachute opening, control information of the unmanned aerial vehicle data recorder, rudder system inspection information, power transfer control information, emergency stop control information, etc. The second communication data may be information fed back from the unmanned aerial vehicle, and the second communication data may include GNSS data, IMU data, pyrotechnic resistor for the wing deployment, pyrotechnic resistor for the booster separation, pyrotechnic resistor for the parachute opening, data from the unmanned aerial vehicle data recorder, rudder system information, power transfer information, emergency stop information, etc. The communication protocols configured by the communication module may include User Datagram Protocol (UDP), Transmission Control Protocol (TCP), and the like.

[0040] In some embodiments of the invention, the route planning module can plan flight waypoints and flight actions, and the route planning module can provide a visual flight map, which can include detailed geographical information of the area where the unmanned aerial vehicle is deployed. The user can operate the flight map in the route planning module to directly set the waypoints, routes and actions performed by the unmanned aerial vehicle at the waypoints of the unmanned aerial vehicle. It can be understood that the route planning model can be configured for the flight waypoints and flight actions of a single unmanned aerial vehicle, and can also set the flight waypoints and flight actions for multiple unmanned aerial vehicles at the same time.

[0041] In some embodiments of the invention, the flight control module can configure relevant parameters for controlling the unmanned aerial vehicle. The control parameters that the flight control module can configure may include but are not limited to communication protocols, instruction formats, channel ranges, unmanned aerial vehicle control instructions, etc., wherein the communication protocol may be a communication protocol for data interaction between the integrated control ground station and the unmanned aerial vehicle, the instruction format may be a format that meets the needs of instructions for controlling the unmanned aerial vehicle, and the instruction format may be customized. For example, the instruction format may include the format of instructions for program control of the unmanned aerial vehicle, the format of instructions for climb control of the unmanned aerial vehicle, the format of instructions for position adjustment of the unmanned aerial vehicle, the format of instructions for flight attitude adjustment of the unmanned aerial vehicle, the format of instructions for speed adjustment of the unmanned aerial vehicle, etc., and the unmanned aerial vehicle control instructions may be configured instructions for controlling the unmanned aerial vehicle, and the unmanned aerial vehicle control instructions may include control instructions, climb control instructions, etc. The flight control module may send control instructions to the unmanned aerial vehicle according to the configured communication protocol, instruction format and channel range to achieve control of the unmanned aerial vehicle.

[0042] In some embodiments of the invention, the security control module can control the flight safety of the unmanned aerial vehicle, and the security control module can configure a security control area for the unmanned aerial vehicle and bind the security control parameters of the unmanned aerial vehicle.

[0043] In some embodiments of the invention, the data monitoring module can be used to monitor the status information of the unmanned aerial vehicle. For example, the user can monitor the flight status, position, flight attitude, speed and other parameters of the unmanned aerial vehicle by calling the data monitoring module. The data monitoring module can also provide a visualization page, and the monitored status information can be visualized in the visualization page, so that the user can monitor the status information of the unmanned aerial vehicle.

[0044] In some embodiments of the invention, the flight inspection module can perform a functional test on the unmanned aerial vehicle before performing a flight mission. The functional test may include testing the electrical unit of the unmanned aerial vehicle, testing the resistance of pyrotechnics, testing the integrated navigation, testing the rudder system, testing ground equipment, etc.

[0045] Among them, the electric unit test can mainly include electrical performance testing of the unmanned aerial vehicle electrical equipment. The testing method is to send test instructions to the unmanned aerial vehicle through computer software, and the unmanned aerial vehicle flight control computer will perform detection and voltage information collection, and transmit the collected data back to the integrated control ground station, which will process and judge the data and finally obtain the test results.

[0046] The resistance test of pyrotechnics can include testing the resistance of booster ignition devices and other pyrotechnics, among which the resistance of the booster ignition device can be determined by the launch pad control terminal test, while the resistance of other pyrotechnics can be determined by the unmanned aerial vehicle distributor through resistance testing. The integrated control ground station makes a gold medal judgment on the test results of the resistance test to obtain the final resistance test results of the pyrotechnics.

[0047] The combined navigation test may include the IMU zero position check, GNSS check and combined navigation detection of the UAV by the integrated control ground station. The integrated control ground station sends test instructions of relevant functions to the UAV, and the UAV performs tests on the IMU zero position check, GNSS check and combined navigation detection, and feeds back the detection data to the integrated control ground station. The integrated control ground station determines whether the feedback detection data is within a reasonable range to determine the test result of the combined navigation.

[0048] The rudder system test may include an integrated control ground station controlling the UAV to set a specified rudder angle through rudder surface angle commands. The integrated control ground station determines whether the current angles of each rudder surface of the UAV are consistent with the set angle, and observes the response of each rudder surface of the UAV to obtain the test results.

[0049] Ground equipment testing may include inspections of network ground radio stations, launcher equipment, and launcher control terminals by the integrated control ground station. The equipment reports information in real time based on its own status, including power-on status, positioning status, etc. The integrated control ground station judges the reported information to determine whether it exceeds the normal range and gives an alarm prompt.

[0050] In some embodiments of the invention, the mission payload management module of the integrated control ground station can perform mission payload management on the unmanned aerial vehicle. The mission payload management content may include ground monitoring of the mission payload, testing of the mission payload, power-on control of the mission payload, and mode switching of the mission payload, etc. For example, the mission payload is specifically a device or apparatus that can be carried by the unmanned aerial vehicle to perform a mission. The mission payload may include a tracer tube, a microwave source, a jammer, etc.

[0051] Specifically, the data recording module can perform data record management on the data records generated by the integrated control ground station, and the data record management can include functions such as generating data records, playing back data records, and performing statistical analysis on data records.

[0052] Specifically, the posture display module can be used to globally display the coordinated posture information of the unmanned aerial vehicles, and the coordinated posture can refer to a posture jointly achieved by multiple unmanned aerial vehicles.

[0053] In an embodiment of the present invention, the simulation and training module can perform unmanned aerial vehicle simulation and flight simulation training in the form of a virtual unmanned aerial vehicle. Specifically, the simulation and training module can generate a specific type of virtual unmanned aerial vehicle based on information input by the user, and can configure the flight mission and flight scene of the virtual unmanned aerial vehicle so that the virtual unmanned aerial vehicle can simulate the performance of the flight mission in the flight scene, thereby realizing unmanned aerial vehicle simulation and flight simulation training.

[0054] In some inventive embodiments, see Figure 2 The launcher control terminal 120 at least includes a global positioning system repeater, a radio repeater, a first switch and a measurement, transmission and control unit; the global positioning system repeater is used to forward global positioning system signals between the integrated control ground station and the unmanned aerial vehicle; the radio repeater is used to forward radio signals between the launcher control terminal and the network ground radio station; the first switch is used to forward network data between the integrated control ground station and the unmanned aerial vehicle; the measurement, transmission and control unit is used to forward measurement, transmission and control data between the integrated control ground station and the unmanned aerial vehicle.

[0055] In the embodiment of the present invention, the launcher control terminal 120 can be composed of a global positioning system repeater, a radio repeater, a first switch and a test, launch and control unit. The global positioning system repeater can forward GPS signals, and the radio repeater can forward radio signals. The radio signals can be specifically radio station signals of a network ground radio station. The network ground radio station can include a radio station and a serial port to network card data conversion module. The radio station can be connected to the recording radio station of the unmanned aerial vehicle to provide a wireless transmission link, and the serial port to network port module can receive the radio station serial port data and convert it into network port data, which can be transmitted by the ground network. The switch can forward the network data between the integrated control ground station and the unmanned aerial vehicle. The test, launch and control unit can forward the test, launch and control related data between the unmanned aerial vehicle and the integrated control ground station, for example, the control data and the unmanned aerial vehicle status data transmitted by the test, launch and control unit through wired transmission. The test, launch and control unit can upload the processed GPS positioning and alignment data in real time. The test, launch and control unit can also receive and execute the test ignition command sent by the integrated control ground station in real time.

[0056] In other inventive embodiments, see Figure 3 The power distribution exchange box 130 includes at least a second switch and a power module; the switch is connected to the integrated control ground station, used to receive network control data from the integrated control ground station, and to feed back power supply status data to the integrated control ground station; the power module is used to provide power to the launcher control terminal and the integrated control ground station according to the network control data.

[0057] In an embodiment of the present invention, the second switch of the distribution switching box 130 can realize data communication of the integrated control ground station. The integrated control ground station can control the distribution switching box through network control data. The distribution switching box can feed back the power supply status data to the integrated control ground station through the second switch, and the power supply module in the distribution switching box can be used to control the power supply of the launcher control terminal and the integrated control ground station according to the network control data transmitted by the integrated control ground station, thereby realizing the power on and off of the launcher control terminal and the integrated control ground station.

[0058] Figure 4 is a flow chart of a multi-machine ground test, launch and control method provided according to an embodiment of the present invention. The method provided by the embodiment of the present invention can be applied to an integrated control ground station, which can control the test, launch and control process in a multi-unmanned aerial vehicle scenario. The integrated control ground station can at least include a flight inspection module, a communication module, a data monitoring module and a data recording module. The integrated control ground station is communicatively connected to the launcher control terminal. The integrated control ground station is used to manage the unmanned aerial vehicle connected to the launcher control terminal through the launcher control terminal. The launcher control terminal is used to exchange data between the unmanned aerial vehicle and the integrated control ground station. See Figure 4 The method provided in the embodiment of the present invention specifically includes the following steps:

[0059] Step 210: Based on the flight inspection module, a function inspection is performed on the unmanned aerial vehicle connected to the launcher control terminal before executing the flight mission.

[0060] In an embodiment of the present invention, the integrated control ground station can load a flight inspection module, and perform one or more of the electrical unit test, pyrotechnic resistance test, combined navigation test, rudder system test, and ground equipment test configured in the flight inspection module on the unmanned aerial vehicle, thereby ensuring the safety of the unmanned aerial vehicle. It can be understood that the user can use the flight inspection module through the integrated control ground station, and can select one or more of the electrical unit test, pyrotechnic resistance test, combined navigation test, rudder system test, and ground equipment test to execute according to the scenario of the unmanned aerial vehicle deployment, thereby realizing the unmanned aerial vehicle deployment test under different deployment environments.

[0061] Specifically, the integrated control ground station can perform functional checks on the unmanned aerial vehicles connected to the launcher terminal through the flight inspection module, and can trigger corresponding test control instructions by performing electrical unit tests, pyrotechnic resistance tests, combined navigation tests, rudder system tests, ground equipment tests, etc. in the flight inspection module. The integrated control ground station can send the above-mentioned test control instructions to one or more unmanned aerial vehicles connected to it through the launcher control terminal, and the unmanned aerial vehicles can respond to the test control instructions and perform corresponding tests.

[0062] Step 220: Send control instructions to the unmanned aerial vehicle via the launcher control terminal according to the communication module.

[0063] The control instruction may be an instruction for controlling the unmanned aerial vehicle, and the control instruction may be executed during the process of the unmanned aerial vehicle performing a flight mission or before the unmanned aerial vehicle performs a mission.

[0064] Specifically, the integrated control ground station can load a communication module, can encapsulate control instructions through one or more communication protocols configured in the communication module, and can transmit the encapsulated control instructions to the unmanned aerial vehicle through the launcher control terminal, thereby realizing the control of the unmanned aerial vehicle through the integrated control ground station.

[0065] Step 230: Monitor the status data of the unmanned aerial vehicle forwarded by the launcher control terminal based on the data monitoring module.

[0066] Among them, the status data can be information that identifies the status of the unmanned aerial vehicle. The status data can include the status of the unmanned aerial vehicle before flight and the status during flight. The status data can include the position, flight attitude, speed, servo angle, engine status, engine speed, engine temperature, IMU data, GPS data, distribution board data, etc. of the unmanned aerial vehicle. The status data can be composed of a data type and data information. The data type identifies the parameter type of the unmanned aerial vehicle corresponding to the status data, and the data information can represent the specific value of the data under the data type.

[0067] In an embodiment of the present invention, the integrated control ground station can monitor the status data of the unmanned aerial vehicle through the data monitoring module, the launcher control terminal can receive the status data of the unmanned aerial vehicle to which it is connected, and forward the status data to the integrated control ground station. The integrated control ground station can receive the status data sent by the unmanned aerial vehicle and detect the status data to determine the position, flight attitude, speed, servo angle, engine status, engine speed, engine temperature, IMU data, GPS data, distribution board data, etc. of the unmanned aerial vehicle.

[0068] Step 240: parse the data information of the status data according to the data recording module and record the data information.

[0069] Specifically, the integrated control ground station can load a data recording module, and can use the data recording module to analyze and extract the received status data, determine the data type of the status data, represent the specific values ​​of the corresponding parameters of the unmanned aerial vehicle in the status data as data information according to the data type, and store the data information in the storage area corresponding to the data recording module, thereby realizing the recording of the data information.

[0070] In an embodiment of the present invention, a flight inspection module is used to perform a functional check on the unmanned aerial vehicle connected to the launch pad control terminal before executing a flight mission, a communication module is called to transmit a control instruction to the unmanned aerial vehicle through the launch pad control terminal, status data of the unmanned aerial vehicle is obtained according to the data monitoring module, and the status data is parsed based on the data recording module to extract data information, and the data information is recorded, so that ground test, launch and control of the unmanned aerial vehicle is implemented based on the functional modules configured in the integrated control ground station, and the problem that the deployment environment of the unmanned aerial vehicle is complex and cannot be standardized due to the diversity of deployment environments is reduced. The unmanned aerial vehicle can be uniformly controlled and managed through the various functional modules integrated in the integrated control ground station, and standardized control of the unmanned aerial vehicle business can be realized, which can simplify the data interaction process of the test, launch and control process of the unmanned aerial vehicle, ensure the accuracy of information transmission, improve the accuracy of testing and control, reduce labor cost expenditure, and improve user experience.

[0071] Figure 5 is a flowchart of another multi-machine ground measurement, launch and control method provided according to an embodiment of the present invention. The embodiment of the present invention is a specific embodiment based on the above-mentioned invention embodiment. Figure 5 , the method provided by the embodiment of the present invention specifically includes:

[0072] Step 310: Receive data collection information uploaded by the unmanned aerial vehicle connected to the launcher control terminal.

[0073] Among them, the data collection information can be the data generated by the launch pad control terminal collecting the status of the unmanned aerial vehicle. The data of the unmanned aerial vehicle that can be collected by the launch pad control terminal may include global positioning system signals, radio station signals, network data, measurement, launch and control data, etc.

[0074] In an embodiment of the present invention, the integrated control ground station can be connected to the launch pad control terminal to receive data acquisition information uploaded by the launch pad control terminal. The data acquisition information can be generated by the launch pad control terminal collecting information about the unmanned aerial vehicle. For example, the data acquisition information may include data of the unmanned aerial vehicle in response to the corresponding test of the flight inspection module, the global positioning system signal, radio station signal, network data, and measurement, launch and control data of each unmanned aerial vehicle, etc.

[0075] Step 320: call the visual test interface of the flight inspection module and display the data collection information on the visual test interface.

[0076] Among them, the visual test interface can be a visual interface configured by the flight check module. The visual test interface can simplify the way in which the user interacts with the flight check module. The visual test interface can display data collection information and controls that trigger test instructions.

[0077] In an embodiment of the present invention, when calling the flight inspection module, the integrated control ground station can display the acquired data collection information through a visual test interface. It can be understood that the data collection information displayed in the visual test interface can be part or all of the data collection information.

[0078] Step 330, receiving the test instructions obtained from the visual test interface, and calling the corresponding functional test of the flight inspection module according to the test instructions, wherein the functional test includes at least one of the electrical unit test, the pyrotechnic resistance test, the combined navigation test, the rudder system test, and the ground equipment test.

[0079] In an embodiment of the present invention, the visual test page of the flight inspection module may also display a control for triggering a test instruction. The user may interact with the control to trigger the test instruction for functional detection. The control may include a function button, a drop-down menu, etc. The user operates on the visual test page of the flight inspection module to generate one or more test instructions for triggering electrical unit testing, pyrotechnic resistance testing, combined navigation testing, rudder system testing, and ground equipment testing, thereby triggering the flight inspection module to enter different test scenarios. It is understandable that since different deployment scenarios of unmanned aerial vehicles have different test requirements, users can interact in the visual test interface to trigger one or more test instructions, thereby starting functional testing of the unmanned aerial vehicle adapted to the corresponding deployment scenario.

[0080] Step 340: Call the user datagram protocol of the communication module to send control instructions to the unmanned aerial vehicle through the transmitter control terminal and the network ground radio station in a unicast manner.

[0081] In an embodiment of the present invention, the integrated control ground station can transmit control instructions to the launcher control terminal and the network ground station through the User Datagram Protocol (UDP), so that the launcher control terminal and the network ground station forward the control instructions to the unmanned aerial vehicle. It can be understood that the control instructions can be transmitted to the launcher control terminal and the network ground station respectively using unicast. The unicast method is a one-to-one communication method, which can send instructions or feedback to the integrated control ground station, the launcher control terminal and the network ground station for point-to-point UDP communication.

[0082] Step 350: Obtain instruction information feedback of control instructions transmitted by the transmitter control terminal and the network ground station in a multicast manner based on the user datagram protocol.

[0083] Specifically, the launcher control terminal and the network ground radio station can upload command information feedback through the user datagram protocol, the launcher control terminal and the network ground radio station can establish a communication multicast connection with the integrated control ground station, the launcher control terminal and the network ground radio station can transmit command information feedback to the integrated control ground station composed of one or more computer devices, and the command information feedback can correspond to the control instruction, and the command information feedback can include the execution status of the control instruction and the status data of the unmanned aerial vehicle executing the control instruction.

[0084] Step 360: Call the data monitoring module to monitor the status data according to the fixed port configured by the data monitoring module.

[0085] Among them, the fixed port can be a listening port configured by the data monitoring module, which can be used to receive status data transmitted by the launcher control terminal or the network ground station. There can be multiple fixed ports, and different ports can be configured for the corresponding launcher control terminal and the network ground station.

[0086] In an embodiment of the present invention, the fixed ports configured for the launcher control terminal and the network ground station in the data monitoring module can be obtained, and the fixed ports can be monitored by calling the data monitoring module to obtain the status data transmitted by the launcher control terminal and the network ground station respectively.

[0087] Step 370, according to the data monitoring module, count the first data transmission rate of the first communication connection of the network ground radio station corresponding to the first port in the fixed port, and the second data transmission rate of the second communication connection of the transmitter control terminal corresponding to the second port in the fixed port.

[0088] The first port may be a port corresponding to the network ground radio station configuration, and the second port may be a port configured for the transmitter control terminal.

[0089] In an embodiment of the present invention, a data monitoring module can be called to receive status data transmitted by a network ground radio station at a first port and status data transmitted by a launcher control terminal at a second port, and determine a first data transmission rate of the status data in the first port. The first data transmission rate can be the amount of status data transmitted in the first port per unit time. Similarly, the second data transmission rate can be the amount of status data transmitted in the second port per unit time. The first communication connection can be a communication connection between a network ground radio station and an integrated control ground station, and the second communication connection can be a communication connection between a launcher control terminal and an integrated control ground station.

[0090] Step 380: Based on the comparison result of the first data transmission rate and the second data transmission rate, the data monitoring module preferentially selects the first communication connection or the second communication connection to receive the status data of the UAV.

[0091] In an embodiment of the present invention, the first data transmission rate and the second data transmission rate can be compared according to the data monitoring module, and the first communication connection or the second communication connection can be preferentially selected to receive the status data of the unmanned aerial vehicle based on the comparison result. For example, if the first data transmission rate is greater than the second data transmission rate, the first communication connection is used to receive the status data of the unmanned aerial vehicle, that is, the status data of the unmanned aerial vehicle is forwarded through the network ground radio station. If the second data transmission rate is greater than the second data transmission rate, the second communication connection is used to receive the status data of the unmanned aerial vehicle, that is, the status data of the unmanned aerial vehicle is received through the integrated control ground station.

[0092] Step 390: Call the data recording module to extract the data type and data parameters of the status data, wherein the data type includes at least the status information type and the action execution feedback type, and the data parameters include at least one of the data type and the action type.

[0093] In an embodiment of the present invention, after acquiring the status data, the integrated control ground station can call the data recording module to analyze and extract the status data, determine the data type and data parameters of the status data, and determine through the data type whether the status data belongs to a status information type or an action execution feedback type. After determining the data type of the status data, the data parameters of the status data can be parsed to determine the data type or action type, thereby determining the specific meaning of the status data through the data type and data parameters.

[0094] Step 3100: Save the data type and data parameters as data information to the cache and log file configured by the data recording module.

[0095] In an embodiment of the present invention, the integrated control ground station can call the data recording module to save the extracted data types and data parameters to the cache and log files configured by the data recording module, thereby realizing the recording of data types and data parameters.

[0096] In some embodiments of the invention, calling the function detection corresponding to the flight check module according to the test instruction includes at least one of the following:

[0097] Transmitting the electrical unit test instruction in the test instruction to the unmanned aerial vehicle, receiving the voltage data of each output interface of the power distributor collected by the unmanned aerial vehicle, determining the comparison result between the voltage data and the preset voltage range, and using the comparison result as the test result of the electrical unit test;

[0098] Transmit the pyrotechnic resistance test command in the test command to the unmanned aerial vehicle and the launch pad control terminal, receive the unmanned aerial vehicle pyrotechnic resistance value collected by the unmanned aerial vehicle and the booster pyrotechnic resistance value from the launch pad control terminal, compare the pyrotechnic resistance value and the booster pyrotechnic resistance value with the preset resistance value respectively, and use each comparison result as the test result of the pyrotechnic resistance test.

[0099] In an embodiment of the present invention, the flight inspection module may include an electrical unit test and a pyrotechnic resistance test on the unmanned aerial vehicle. Specifically, the integrated control ground station may call the flight inspection module, and the flight inspection module transmits the electrical unit test instructions in the test instructions to the unmanned aerial vehicle, so that the unmanned aerial vehicle performs voltage detection on the output interface of the distributor according to the electrical unit test instructions, thereby obtaining voltage data. The unmanned aerial vehicle can transmit the voltage data to the integrated control ground station, and the integrated control ground station compares the voltage data with the preset voltage range through the flight inspection module to determine whether the voltage data is normal, and the comparison result is used as the test result of the electrical unit test. The flight inspection module can also perform a pyrotechnic resistance test on the unmanned aerial vehicle. The pyrotechnic resistance test can include a pyrotechnic resistance test on the unmanned aerial vehicle and a pyrotechnic resistance test on the ground side. Specifically, the flight inspection module can transmit a pyrotechnic resistance test instruction in the test instruction to the unmanned aerial vehicle and the launch pad control terminal. The unmanned aerial vehicle tests the pyrotechnic resistance of the unmanned aerial vehicle, and the launch pad control terminal tests the pyrotechnic resistance of the booster. The integrated control ground station can respectively receive the pyrotechnic resistance and the booster pyrotechnic resistance fed back by the unmanned aerial vehicle and the launch pad control terminal, and generate a test result of the pyrotechnic resistance test by comparing the pyrotechnic resistance and the booster pyrotechnic resistance with the corresponding preset resistance.

[0100] In an exemplary embodiment, the system provided by the embodiment of the present invention adopts a modular design and can be composed of an integrated control ground station computer, a ground network radio station, a power distribution switch box, and a launcher control terminal. The system's integrated control ground station computer, i.e., a control console, is mainly used to send control instructions to the test, launch and control units of the unmanned aerial vehicle and the launcher control terminal, so as to realize a set of unmanned aerial vehicle ground test, launch and control systems for pre-flight inspection, route planning, data communication, security control binding, data monitoring, data recording, and mission payload management of multiple unmanned aerial vehicles. After the equipment is powered on, the launcher control terminal releases the pyrotechnic hard lock to ensure that personnel evacuate the launcher. The integrated control ground station remotely monitors and controls the launcher control terminal and the unmanned aerial vehicle through the network, realizes the scheduling control of the test and launch control process, remote information monitoring, remote equipment detection, test information output, remote launch control ignition, and provides a human-computer interaction interface. See Figure 6 The system includes: integrated control ground station, ground network radio station, power distribution switch box, and launcher control terminal.

[0101] The integrated control ground station is composed of one or more computers that support ATX motherboard or PICMG passive backplane. The integrated control ground station has a flexible mechanical design, supports 300W single PS / 2 and redundant ATX power supplies, and has the ability to resist shock and vibration. The integrated control ground station computer forms a radio station communication link with the network ground radio station and the unmanned aerial vehicle onboard radio station through a network cable. After the unmanned aerial vehicle takes off, it exchanges data with the integrated control ground station through a wireless communication link. The integrated control ground station is connected to the launcher control terminal through a network cable, and the launcher control terminal is connected to the unmanned aerial vehicle through a serial port. The data is transparently transmitted through the serial port to network port chip in the test, launch and control unit in the launcher control terminal to realize the wired communication link between the integrated control ground station and the unmanned aerial vehicle. Before the unmanned aerial vehicle takes off, the test, control and status detection are all exchanged through the ground network link. The integrated control ground station sends control commands to the unmanned aerial vehicle flight control computer and the launcher control terminal RCU through the network radio station and the launcher control terminal via UDP unicast. The ground network radio station and the launcher control terminal initiate command information feedback and equipment status information download to the integrated control ground station via UDP multicast. The integrated control ground station monitors the multicast communication mode of two fixed ports in real time, and receives the status information of the unmanned aerial vehicle transmitted by the ground network and the radio at the same time. By counting the number of data packets received through the two links per second, it determines whether to use the link with the most received data packets to communicate with the unmanned aerial vehicle. The data receiving module of the integrated control ground station synchronously parses the received data information and stores it in the cache and log file. At the same time, the test module of the integrated control ground station reads the data acquisition information uploaded by the launcher control terminal in real time, and outputs the data on the test interface after analysis. The test command is triggered by the button on the test interface to control the action of the onboard electrical equipment of the unmanned aerial vehicle, including controlling GNSS, IMU data transmission, checking the wing deployment pyrotechnic resistor, checking the booster separation pyrotechnic resistor, checking the parachute opening pyrotechnic resistor, unmanned aerial vehicle data recorder control, rudder system inspection, power transfer control, emergency stop control, etc.

[0102] The power distribution exchange box is deployed near the integrated control ground station. It mainly includes switches and power modules. It is connected to the mains or generator to power the network ground station, the integrated control ground station and the switch. The switch provides a network communication channel for the integrated control ground station, the network ground station and the transmitter control terminal. The power distribution exchange box includes an industrial switch and a power module. The switch provides network data forwarding, and the power module is connected to the 220V mains or generator to provide power for the entire ground equipment.

[0103] The launcher control terminal is deployed on the side close to the launcher, and mainly includes AC / DC programmable power supply, power supply and pyrotechnic ignition circuit, emergency power-off function, test and launch control management, A / D acquisition, switch signal reading and output, protection circuit design, communication port design, signal and data forwarding, etc. The launcher control terminal includes GPS repeater, radio repeater, switch, test, launch and control unit, and power module. The GPS repeater forwards GPS signals, the radio repeater forwards radio signals, the switch forwards network data, the test, launch and control unit transmits control data and unmanned aerial vehicle status data through wired transmission, uploads processed GPS positioning and alignment data in real time, receives and executes test ignition commands sent by the integrated control ground station in real time, and the power module provides power for the launcher and the launcher control terminal equipment, and receives control commands from the integrated control ground station in real time to determine whether to provide ground power supply for the unmanned aerial vehicle.

[0104] The network ground radio station is deployed near the integrated control computer, and mainly includes a radio station and a serial port to network port module. The radio station is connected to the radio station on the unmanned aerial vehicle to provide a wireless transmission link, and the serial port to network port module receives the serial port data of the radio station and converts it into network port data and sends it to the ground network.

[0105] In the embodiment of the present invention, see Figure 7 The integrated control ground station can be configured with computer software, which can be used for unmanned aerial vehicle flight control, ground detection and airborne equipment management, flight status monitoring, situation display, flight data recording and playback. The computer software includes communication module, route planning module, flight control module, security control module, data monitoring module, pre-flight inspection module, mission load management module, data recording module, situation display module, simulation and training module.

[0106] Among them, the computer software communication module sends the communication data to the network ground radio station through UDP, the network ground radio station sends the data to the UAV radio station through a wireless link, the UAV radio station sends the data to the UAV flight control computer through RS422, and at the same time, the UAV flight control computer sends the data to the UAV radio station through RS422, the UAV radio station transmits the data to the network ground radio station through a wireless link, and finally the network ground radio station transmits the flight data back to the computer software through UDP. Thus, the communication between the computer software and the UAV is realized. The wired communication module can send and receive data through UDP multicast, thereby realizing effective communication between multiple ground test, launch and control systems and effective communication between multiple integrated control ground stations, and can perform functions such as real-time interaction of multi-terminal data, and support the distributed deployment of multiple ground test, launch and control systems to collaboratively command UAVs to perform related tests and control operations.

[0107] The computer software route planning module can be used to directly set the flight waypoints and routes on the flight map as well as the actions that the unmanned aerial vehicle needs to perform at the waypoints.

[0108] The computer software command control module sends control commands including program control, climbing, etc. to the unmanned aerial vehicle according to the channel range, communication protocol and data format.

[0109] The computer software security control module includes security control area planning and binding functions.

[0110] Computer software data monitoring module is used to monitor the flight status, position, flight attitude, speed, etc. of unmanned aerial vehicles

[0111] The computer software pre-flight inspection module includes electrical unit test, pyrotechnic resistance test, integrated navigation test, rudder system test, and ground equipment test. The computer software electrical unit test mainly tests the electrical performance of the UAV electrical equipment. The test method is to send test instructions to the UAV through the computer software, and the UAV flight control computer performs the test and voltage information collection, and transmits the collected data back to the computer software for data processing and judgment to obtain the test results. The test process is as follows: Figure 8 As shown. Computer software pyrotechnic resistance test The booster ignition device is issued a booster resistance test command by the computer software, and the test and control unit completes the resistance test. The resistance test of other pyrotechnics is completed by the UAV distributor. The test process is as follows Figure 4 As shown. Computer software integrated navigation test includes IMU zero position check, GNSS check and integrated navigation check. Relevant test instructions are sent to the unmanned aerial vehicle through computer software, and the flight control computer of the unmanned aerial vehicle transmits the data back to the computer software, processes and determines whether the data is within the normal range, and obtains the test results. Computer software rudder system test includes rudder angle instruction check. The specified rudder deflection angle is set to the flight control computer of the unmanned aerial vehicle through computer software, and the current angle of each rudder surface is judged to be consistent with the set angle. Polarity check sends polarity check instructions to the flight control computer through computer software, and observes the response of each rudder surface to obtain the test results. Computer software ground equipment test includes network ground radio station check and launcher equipment check. The equipment operating status is monitored in real time according to the equipment reported parameters. The reported information includes power-on status, positioning status, etc. If the equipment parameters exceed the normal range, an alarm prompt will be given.

[0112] Computer software mission payload module management is used for ground monitoring, testing, power-on control and mode switching of UAV mission payloads.

[0113] The computer software data recording module includes functions such as data recording, data playback and data analysis.

[0114] The computer software situation display function includes global display of the coordinated situation information of the unmanned aerial vehicle.

[0115] Computer software simulation and simulation training include generating virtual unmanned aerial vehicles based on unmanned aerial vehicle modules, thereby performing unmanned aerial vehicle simulation and flight simulation training.

[0116] The system provided by the embodiment of the present invention can inherit the mature functions of the existing system, adopt mature and advanced testing technology and communication technology, which is conducive to improving the performance indicators of the system and facilitating the modular and standardized design of the system; the test data of each system module is shared in real time, which is of great significance for the on-site captain and support personnel to fully understand the status, performance and test preparation progress of the unmanned aerial vehicle, and is conducive to the achievement of the mission objectives of on-site decision-making and rapid deployment of launch. The system integrates a power module, a test and launch control unit, a flight control computer, an electrical data acquisition module, and a serial port to network port module, and the hardware and software are modularized. For different items to be tested, the hardware basically needs to be connected to the corresponding test tooling, and the software program only needs to enter the corresponding process test link according to different test items. The ground station software determines whether the unmanned aerial vehicle and the launch control device have the launch conditions and whether the electrical system on the unmanned aerial vehicle is operating normally according to the results of the process test and simulation test. The new unmanned aerial vehicle ground test and launch control system is more mature, the system maintenance and labor costs are greatly reduced, the compatibility and reliability of the system are improved, and the reusability of the system is enhanced.

[0117] Fig. 9 1 is a schematic diagram of the structure of an electronic device for implementing the multi-machine ground test, launch and control method of an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0118] like Fig. 9As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0119] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0120] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a multi-machine ground test, launch and control method.

[0121] In some embodiments, the multi-machine ground test, launch and control method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the multi-machine ground test, launch and control method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the multi-machine ground test, launch and control method in any other appropriate manner (for example, by means of firmware).

[0122] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0123] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0124] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0125] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0126] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0127] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0128] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0129] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-machine ground test, launch and control system, characterized in that: The system includes: an integrated control ground station, a launcher control terminal and a power distribution switch box; The power distribution exchange box is respectively connected to the integrated control ground station and the launcher control terminal for power supply; The integrated control ground station is communicatively connected to the launcher control terminal, and the integrated control ground station is used to manage the unmanned aerial vehicle connected to the launcher control terminal through the launcher control terminal; The launcher control terminal is used to perform data exchange between the unmanned aerial vehicle and the integrated control ground station; The measurement, launch and control function module configured in the integrated control ground station includes at least a data monitoring module, and the data monitoring module is used to monitor the status information of the unmanned aerial vehicle, including: listening to the status data of the unmanned aerial vehicle according to the fixed port configured by the data monitoring module; counting the first data transmission rate of the first communication connection of the network ground radio station corresponding to the first port in the fixed port, and the second data transmission rate of the second communication connection of the launcher control terminal corresponding to the second port in the fixed port; and preferentially selecting the first communication connection or the second communication connection to receive the status data of the unmanned aerial vehicle according to the comparison result of the first data transmission rate and the second data transmission rate; wherein the status information includes at least one of the flight status, position, flight attitude and speed.

2. The system according to claim 1, characterized in that: The test, launch and control function module also includes one of the following: a communication module, wherein the communication module sends first communication data to the launcher control terminal through a configured communication protocol, controls the launcher control terminal to forward the first communication data to the unmanned aerial vehicle, and receives second communication data of the unmanned aerial vehicle forwarded by the launcher control terminal through the communication protocol; The route planning module is used to obtain flight waypoints and flight actions based on the preconfigured flight map; A flight control module, used for sending control instructions to the unmanned aerial vehicle according to the communication protocol, instruction format and channel range, wherein the control instructions include at least one of a program control instruction and a climb control instruction; A security control module, used for planning the security control area and binding the security control parameters of the unmanned aerial vehicle; A flight inspection module, used to perform a functional test on the unmanned aerial vehicle before performing a flight mission, wherein the functional test includes at least one of an electrical unit test, an pyrotechnic resistance test, an integrated navigation test, a rudder system test, and a ground equipment test; A mission load management module, used to perform mission load management on the mission load of the unmanned aerial vehicle, wherein the mission load management includes at least one of ground monitoring, testing, power-on control and mode conversion; A data recording module, used for performing data record management on data records, wherein the data record management includes at least one of data recording, data playback, and data analysis; A posture display module, used for globally displaying the coordinated posture information of the unmanned aerial vehicle; The simulation and training module is used to generate virtual unmanned aerial vehicles and simulate virtual missions and perform flight simulation training.

3. The system according to claim 1, characterized in that: The transmitter control terminal at least includes a global positioning system repeater, a radio repeater, a first switch and a test, transmission and control unit; The GPS repeater is used to forward GPS signals between the integrated control ground station and the unmanned aerial vehicle; The radio repeater is used to forward radio signals between the transmitter control terminal and the network ground radio station; The first switch is used to forward network data between the integrated control ground station and the unmanned aerial vehicle; The measurement, launch and control unit is used to forward the measurement, launch and control data between the integrated control ground station and the unmanned aerial vehicle.

4. The system according to claim 1, characterized in that: The power distribution exchange box at least includes a second switch and a power module; The second switch is connected to the integrated control ground station, and is used to receive network control data from the integrated control ground station and feed back power supply status data to the integrated control ground station; The power supply module is used to provide power to the launcher control terminal and the integrated control ground station according to the network control data.

5. A multi-machine ground test and launch control method, characterized in that: Applied to an integrated control ground station, the integrated control ground station at least comprises a flight inspection module, a communication module, a data monitoring module and a data recording module, the integrated control ground station is communicatively connected to a launcher control terminal, the integrated control ground station is used to manage the unmanned aerial vehicle connected to the launcher control terminal through the launcher control terminal, the launcher control terminal is used to perform data exchange between the unmanned aerial vehicle and the integrated control ground station, the method comprises: Based on the flight inspection module, a function inspection is performed on the unmanned aerial vehicle connected to the launcher control terminal before performing a flight mission; Sending control instructions to the unmanned aerial vehicle via the launcher control terminal according to the communication module; Monitoring the status data of the unmanned aerial vehicle forwarded by the launcher control terminal based on the data monitoring module includes: calling the data monitoring module to listen to the status data according to the fixed port configured by the data monitoring module; counting the first data transmission rate of the first communication connection of the network ground radio station corresponding to the first port in the fixed port and the second data transmission rate of the second communication connection of the launcher control terminal corresponding to the second port in the fixed port according to the data monitoring module; and preferentially selecting the first communication connection or the second communication connection to receive the status data of the unmanned aerial vehicle according to the comparison result of the first data transmission rate and the second data transmission rate by the data monitoring module; The data information of the status data is parsed according to the data recording module and the data information is recorded.

6. The method according to claim 5, characterized in that: The method of performing a functional inspection on the unmanned aerial vehicle connected to the launcher control terminal based on the flight inspection module before executing a flight mission includes: Receiving data collection information uploaded by the unmanned aerial vehicle connected to the launcher control terminal; Calling the visual test interface of the flight inspection module and displaying the data collection information on the visual test interface; Receive the test instructions obtained from the visual test interface, and call the functional test corresponding to the flight inspection module according to the test instructions, wherein the functional test includes at least one of an electrical unit test, a pyrotechnic resistance test, a combined navigation test, a rudder system test, and a ground equipment test.

7. The method according to claim 5, characterized in that: The integrated control ground station is also connected to a network ground radio station, and the control command is sent to the unmanned aerial vehicle via the launcher control terminal according to the communication module, including: Calling the user datagram protocol of the communication module to send control instructions to the unmanned aerial vehicle through the launcher control terminal and the network ground radio station in a unicast manner; Obtain instruction information feedback of the control instruction transmitted by the transmitter control terminal and the network ground station in a multicast manner based on the user datagram protocol.

8. The method according to claim 5, characterized in that: The step of parsing the data information of the status data according to the data recording module and recording the data information includes: Calling the data recording module to extract the data type and data parameters of the state data, wherein the data type at least includes the state information type and the action execution feedback type, and the data parameter at least includes at least one of the data type and the action type; According to the data recording module, the data type and the data parameter are saved as the data information in a cache and a log file configured by the data recording module.

9. The method according to claim 6, characterized in that: The calling of the function detection corresponding to the flight check module according to the test instruction includes at least one of the following: Transmitting the electrical unit test instruction in the test instruction to the unmanned aerial vehicle, receiving the voltage data of each output interface of the power distributor collected by the unmanned aerial vehicle, determining the comparison result between the voltage data and a preset voltage range, and using the comparison result as the test result of the electrical unit test; Transmit the pyrotechnic resistance test instruction in the test instruction to the unmanned aerial vehicle and the launch pad control terminal, receive the unmanned aerial vehicle pyrotechnic resistance value collected by the unmanned aerial vehicle and the booster pyrotechnic resistance value from the launch pad control terminal, compare the pyrotechnic resistance value and the booster pyrotechnic resistance value with the preset resistance value respectively, and use each of the comparison results as the test result of the pyrotechnic resistance test.

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