High-throughput satellite-based dual-mode uav control system and method

Abstract

The application provides a high-throughput satellite-based unmanned aerial vehicle dual-mode measurement and control system and method, relates to the technical field of unmanned aerial vehicle communication, and comprises an unmanned aerial vehicle platform, a high-throughput satellite, a ground gateway station of the high-throughput satellite and a ground control station of the unmanned aerial vehicle platform; the system solves the bandwidth demand problem of a large number of unmanned aerial vehicles when simultaneously communicating by adopting the high-throughput satellite, the ground gateway station of the high-throughput satellite is provided with a TDMA service carrier, a TDMA network control carrier, a CDMA service carrier and a CDMA network control carrier, the system sends forward remote control instructions through a CDMA service channel and returns back measurement and control data through a TDMA service channel, that is, a CDMA / TDMA dual-mode measurement and control method is adopted, so that the anti-interference performance of the forward link of the high-throughput satellite is improved, the technical problem that unmanned aerial vehicle communication is prone to interruption is avoided, and the reliability of the unmanned aerial vehicle satellite communication system is improved.

Description

Technical Field

[0001] This invention relates to the technical field of unmanned aerial vehicle (UAV) communication, and in particular to a dual-mode UAV telemetry and control system and method based on high-throughput satellites. Background Technology

[0002] Existing UAV satellite communication systems serve as an over-the-horizon (BFL) channel in the UAV telemetry and control link, ensuring the transmission of forward remote control commands and return composite telemetry data within the BFL range. UAV satellite communication systems operate in the Ku or Ka band. Figure 1 This is a schematic diagram of the usage mode of a UAV satellite communication system. The system uses a transparent satellite transponder for data transmission, and the UAV's flight distance is within the beam coverage area.

[0003] However, traditional transparent transponders for communication satellites typically have a bandwidth of only 36MHz or 54MHz, while UAVs require communication bandwidths of 10MHz or even 20MHz. Therefore, a single transparent transponder can only transmit data from 2-3 UAVs simultaneously. If a large number of UAVs are flying, the required satellite resources are enormous, and existing UAV satellite communication systems cannot meet these demands. If high-throughput satellites are used to support large-scale UAV flights, given that high-throughput satellites use TDMA mode for communication, their forward link is susceptible to interference, leading to communication interruptions and posing a significant safety hazard to the UAVs. Summary of the Invention

[0004] The purpose of this invention is to provide a dual-mode telemetry and control system and method for unmanned aerial vehicles (UAVs) based on high-throughput satellites, so as to alleviate the technical problem of poor reliability in UAV satellite communication systems.

[0005] In a first aspect, the present invention provides a dual-mode telemetry and control system for unmanned aerial vehicles (UAVs) based on high-throughput satellites, comprising: a UAV platform, a high-throughput satellite, a ground gateway station for the high-throughput satellite, and a ground control station for the UAV platform; the ground control station is communicatively connected to the ground gateway station, and the ground gateway station is communicatively connected to the UAV platform via the high-throughput satellite, and the ground gateway station is configured with a TDMA service carrier, a TDMA network control carrier, a CDMA service carrier, and a CDMA network control carrier; the UAV platform accesses the TDMA network and the CDMA network; the ground control station sends forward remote control commands to the ground gateway station based on user telemetry and control requirements; the ground gateway station forwards the forward remote control commands to the UAV platform via a CDMA service channel; wherein, the CDMA service channel represents the channel of the CDMA service carrier; the UAV platform executes corresponding telemetry and control actions based on the forward remote control commands to obtain telemetry and control data, and transmits the telemetry and control data back to the ground gateway station via the TDMA service channel; wherein, the TDMA service channel represents the channel of the TDMA service carrier; the ground gateway station sends the telemetry and control data to the ground control station.

[0006] Optionally, the UAV platform accesses the TDMA network and the CDMA network, including: the UAV platform sending a network access request to the ground gateway station through the TDMA network control channel; wherein, the TDMA network control channel represents the channel of the TDMA network control carrier; the ground gateway station sending TDMA channel parameters and CDMA channel parameters to the UAV platform through the TDMA network control channel based on the network access request; the UAV platform accessing the TDMA network based on the TDMA channel parameters, and accessing the CDMA network based on the CDMA channel parameters.

[0007] Optionally, after the UAV platform accesses the TDMA network based on the TDMA channel parameters, the UAV platform is also used for: sending ranging data to the ground gateway station through the TDMA service channel; the ground gateway station feeding back return link calibration information to the UAV platform based on the ranging data; and the UAV platform calibrating the return link based on the return link calibration information.

[0008] Optionally, both the CDMA service channel and the CDMA network control channel use direct sequence spread spectrum code division multiple access to encode the data to be transmitted; whereby the CDMA network control channel refers to the channel of the CDMA network control carrier.

[0009] Optionally, the UAV platform is also used to acquire its three-dimensional spatial coordinate data and transmit the three-dimensional spatial coordinate data to the ground gateway station via the TDMA service channel; the ground gateway station manages the in-beam service channel resources applied within its preset mission area based on the three-dimensional spatial coordinate data.

[0010] Secondly, the present invention provides a dual-mode telemetry and control method for unmanned aerial vehicles (UAVs) based on high-throughput satellites, applied to any of the aforementioned embodiments of a dual-mode UAV telemetry and control system based on high-throughput satellites, comprising: receiving forward remote control commands; wherein the forward remote control commands are commands sent by the ground control station of the UAV platform to the ground gateway station of the high-throughput satellite based on user telemetry and control requirements; the ground gateway station is configured with a TDMA service carrier, a TDMA network control carrier, a CDMA service carrier, and a CDMA network control carrier; the UAV platform accesses the TDMA network and the CDMA network; forwarding the forward remote control commands to the UAV platform through a CDMA service channel; wherein the CDMA service channel represents the channel of the CDMA service carrier; receiving telemetry and control data transmitted back by the UAV platform through the TDMA service channel; wherein the TDMA service channel represents the channel of the TDMA service carrier; the telemetry and control data are data obtained by the UAV platform after performing corresponding telemetry and control actions based on the forward remote control commands; and sending the telemetry and control data to the ground control station.

[0011] Optionally, before receiving the forward remote control command, the method further includes: receiving a network access request sent by the UAV platform through a TDMA network control channel; wherein the TDMA network control channel represents the channel of the TDMA network control carrier; and sending TDMA channel parameters and CDMA channel parameters to the UAV platform through the TDMA network control channel based on the network access request, so that the UAV platform can access the TDMA network based on the TDMA channel parameters and access the CDMA network based on the CDMA channel parameters.

[0012] Optionally, after the UAV platform accesses the TDMA network based on the TDMA channel parameters, the method further includes: receiving ranging data sent by the UAV platform through the TDMA service channel; and feeding back return link calibration information to the UAV platform based on the ranging data, so that the UAV platform can calibrate the return link based on the return link calibration information.

[0013] Thirdly, the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program that can run on the processor, and the processor executes the computer program to implement the dual-mode telemetry and control method for unmanned aerial vehicles based on high-throughput satellites according to any of the foregoing embodiments.

[0014] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions, which, when executed by a processor, implement the dual-mode telemetry and control method for unmanned aerial vehicles based on high-throughput satellites as described in any of the foregoing embodiments.

[0015] This invention provides a dual-mode telemetry and control system for unmanned aerial vehicles (UAVs) based on high-throughput satellites. This system addresses the bandwidth requirements of simultaneous communication by a large number of UAVs using high-throughput satellites. Furthermore, the ground gateway station of the high-throughput satellite is equipped with TDMA service carriers, TDMA network control carriers, CDMA service carriers, and CDMA network control carriers. The system transmits forward remote control commands via the CDMA service channel and transmits back telemetry and control data via the TDMA service channel. In other words, it employs a CDMA / TDMA dual-mode telemetry and control method, thereby improving the anti-interference performance of the high-throughput satellite forward link, avoiding the technical problem of easy interruption in UAV communication, and enhancing the reliability of the UAV satellite communication system. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1A schematic diagram illustrating the usage modes of a UAV satellite communication system;

[0018] Figure 2 A schematic diagram of a dual-mode telemetry and control system for unmanned aerial vehicles based on high-throughput satellites provided in an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of the carrier used in the forward link in an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of the carrier used in the return link in an embodiment of the present invention;

[0021] Figure 5 A flowchart of a dual-mode telemetry and control method for unmanned aerial vehicles based on high-throughput satellites provided in this embodiment of the invention;

[0022] Figure 6 This is a schematic diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0025] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0026] Example 1

[0027] Figure 2 A schematic diagram of a dual-mode telemetry and control system for unmanned aerial vehicles based on high-throughput satellites provided in an embodiment of the present invention is shown below. Figure 2 As shown, it includes: an unmanned aerial vehicle (UAV) platform 100, a high-throughput satellite 200, a ground gateway station 300 for the high-throughput satellite, and a ground control station 400 for the UAV platform.

[0028] The ground control station is connected to the ground gateway station, which in turn is connected to the UAV platform via high-throughput satellite. The ground gateway station is equipped with TDMA service carrier, TDMA network control carrier, CDMA service carrier, and CDMA network control carrier. The UAV platform is connected to the TDMA network and the CDMA network.

[0029] The ground control station sends forward remote control commands to the ground gateway station based on the user's telemetry and control requirements.

[0030] The ground gateway forwards the forward remote control commands to the UAV platform through the CDMA service channel; where the CDMA service channel refers to the channel of the CDMA service carrier.

[0031] The UAV platform executes corresponding telemetry and control actions based on forward remote control commands to obtain telemetry and control data, and then transmits the telemetry and control data back to the ground gateway station through the TDMA service channel; where TDMA service channel refers to the channel of TDMA service carrier.

[0032] The ground gateway station sends the telemetry and control data to the ground control station.

[0033] Specifically, addressing the requirements of uninterrupted communication and anti-interference / anti-interception capabilities for existing UAV platforms, this embodiment of the invention adds a CDMA communication mode to the existing TDMA communication mode of high-throughput satellites. That is, the high-throughput satellite adopts a dual-mode communication mode; therefore, the UAV platform must access both the TDMA and CDMA networks. Both the TDMA and CDMA networks contain corresponding service carriers and network control carriers, all of which are transmitted by ground gateway stations.

[0034] In this embodiment of the invention, the UAV platform can join a general satellite network via TDMA mode or via CDMA with preset parameters. The TDMA network control channel (the channel of the TDMA network control carrier) and the CDMA network control channel (the channel of the CDMA network control carrier) operate in a time-division multiplexing manner. The UAV platform maintains its network access status through these two network control channels, where the network control channel is used to transmit network access parameters. The TDMA service channel (the channel of the TDMA service carrier) and the CDMA service channel (the channel of the CDMA service carrier) operate in a time-division multiplexing manner, where the service channel is used to transmit communication data. Figure 3 This is a schematic diagram of the carrier used in the forward link in an embodiment of the present invention. Figure 3 The CDMA forward telemetry and control carrier in this context is also known as the CDMA service carrier. Figure 4This is a schematic diagram of the carrier used in the return link in an embodiment of the present invention. Considering that the forward link is susceptible to interference and communication interruption when using TDMA mode for communication, in order to ensure the anti-interference capability of the forward link, in the UAV dual-mode telemetry and control system provided in this embodiment of the present invention, the forward link mainly uses CDMA mode to send forward remote control commands, and the return link uses TDMA mode to receive telemetry and control data.

[0035] The dual-mode UAV telemetry and control system provided in this invention essentially forms a star network centered on a high-throughput satellite ground gateway station. The UAV platform and its ground control station add a network control channel unit to connect to the ground gateway station. The ground gateway station sends channel parameters such as communication frequency and service transmission bandwidth to the UAV platform and the ground control station through the satellite communication network. The UAV platform and the ground control station establish a link transmission channel centered on the high-throughput ground gateway station, realizing forward and return link communication between the UAV and the ground control station. The ground gateway station performs unified management of the service system.

[0036] In this embodiment of the invention, the ground control station and the ground gateway station communicate via a ground line, optionally using a terrestrial optical cable. After receiving the user's telemetry and control requirements, the ground control station sends a forward remote control command carrying the UAV's forward remote control information to the ground gateway station via the ground line. Upon receiving the forward remote control command, the ground gateway station forwards it to the UAV platform via a CDMA service channel with strong anti-interference capabilities. After receiving the forward remote control command, the UAV platform executes the telemetry and control actions required by the command, thereby obtaining the corresponding telemetry and control data. It then transmits the telemetry and control data back to the ground gateway station via a TDMA service channel. Finally, the ground gateway station forwards the telemetry and control data to the ground control station, thus completing the remote control mission.

[0037] This invention provides a dual-mode telemetry and control system for unmanned aerial vehicles (UAVs) based on high-throughput satellites. This system addresses the bandwidth requirements of simultaneous communication by a large number of UAVs using high-throughput satellites. Furthermore, the ground gateway station of the high-throughput satellite is equipped with TDMA service carriers, TDMA network control carriers, CDMA service carriers, and CDMA network control carriers. The system transmits forward remote control commands via the CDMA service channel and transmits back telemetry and control data via the TDMA service channel. In other words, it employs a CDMA / TDMA dual-mode telemetry and control method, thereby improving the anti-interference performance of the high-throughput satellite forward link, avoiding the technical problem of easy interruption in UAV communication, and enhancing the reliability of the UAV satellite communication system.

[0038] In one optional implementation, the unmanned aerial vehicle (UAV) platform accesses both TDMA and CDMA networks, specifically including the following:

[0039] The UAV platform sends a network access request to the ground gateway station through the TDMA network control channel; where TDMA network control channel refers to the channel of the TDMA network control carrier.

[0040] Based on the network access request, the ground gateway station sends TDMA channel parameters and CDMA channel parameters to the UAV platform through the TDMA network control channel.

[0041] The UAV platform accesses the TDMA network based on TDMA channel parameters, and also accesses the CDMA network based on CDMA channel parameters.

[0042] Because existing high-throughput satellite networks use TDMA communication mode, a TDMA network control channel is required in the forward link to ensure that the UAV platform can access the TDMA network. The TDMA network control channel and the CDMA network control channel operate in a time-division multiplexing manner. Before takeoff, the UAV platform sends a network access request to the ground gateway station via the TDMA network control channel and receives TDMA and CDMA channel parameters from the ground gateway station via the same channel, thus enabling access to both the TDMA and CDMA networks. During flight, the UAV maintains its network access status through both the TDMA and CDMA network control channels. The ground gateway station sends forward remote control commands to the UAV platform via the CDMA service channel, and the UAV platform sends return telemetry and control data to the ground gateway station via the TDMA service channel.

[0043] In one optional implementation, to ensure the reliability and accuracy of the return link data transmission, after the UAV platform accesses the TDMA network based on the TDMA channel parameters, the UAV platform is further configured to: send ranging data to the ground gateway station via the TDMA service channel, so that the ground gateway station can feed back return link calibration information to the UAV platform based on the ranging data. The UAV platform calibrates the return link based on the return link calibration information. The calibration includes: RTT (Round-Trip Time), frequency offset, and power.

[0044] In one optional implementation, both the CDMA service channel and the CDMA network control channel use direct sequence spread spectrum code division multiple access to encode the data to be transmitted; wherein, the CDMA network control channel refers to the channel of the CDMA network control carrier.

[0045] Specifically, the forward link includes a CDMA network control channel and a CDMA service channel. To ensure strong anti-interference capability, the CDMA network control channel and the CDMA service channel use direct sequence spread spectrum code division multiple access. When multiple UAVs fly simultaneously, the forward link carrier frequencies overlap, sharing the same frequency bandwidth, but using different spreading code addresses. Optionally, both forward links use LDPC coding (1 / 2 code rate) and QPSK modulation.

[0046] In one alternative implementation, the UAV platform is also used to acquire its three-dimensional spatial coordinate data and transmit the three-dimensional spatial coordinate data to the ground gateway station via a TDMA service channel; the ground gateway station manages the in-beam service channel resources applied within its preset mission area based on the three-dimensional spatial coordinate data.

[0047] Specifically, after receiving the three-dimensional spatial coordinate data sent by the UAV platform, the ground gateway station determines which sub-beam the UAV platform is currently within by matching it with the coverage area of ​​each sub-beam of the high-throughput satellite. When the ground gateway station determines that the UAV is within the coverage area of ​​the target sub-beam, it opens the corresponding TDMA service channel for the target sub-beam to allow the UAV platform to transmit back telemetry and control data. When it determines that the UAV platform has flown out of the coverage area of ​​the target sub-beam, the ground gateway station closes the TDMA service channel of the target sub-beam to recover resources. In other words, in this embodiment of the invention, the in-beam service channel resources used within the preset mission area are TDMA service channels, because CDMA service channels only exist in the forward link and not in the return link.

[0048] In summary, this invention addresses the high bandwidth requirements of large-scale UAVs by employing high-throughput satellites. Practical experience has shown that this can increase the return data transmission rate to 64 Mbps. Furthermore, by adopting a dual-mode telemetry and control system, it solves the problem of interference and communication interruptions in the forward link of traditional high-throughput satellites. Additionally, the introduction of CDMA mode into the high-throughput satellite system enables networking through the CDMA network management channel, further improving collaborative flight among UAVs.

[0049] Example 2

[0050] This invention also provides a dual-mode telemetry and control method for unmanned aerial vehicles (UAVs) based on high-throughput satellites. This method is applied to the dual-mode telemetry and control system for UAVs based on high-throughput satellites provided in Embodiment 1 above, specifically to the ground gateway station in the dual-mode telemetry and control system for UAVs. The following is a detailed description of the dual-mode telemetry and control method for UAVs based on high-throughput satellites provided in this invention.

[0051] Figure 5A flowchart of a dual-mode telemetry and control method for unmanned aerial vehicles based on high-throughput satellites, as provided in this embodiment of the invention, is shown below. Figure 5 As shown, the method specifically includes the following steps:

[0052] Step S102: Receive forward remote control command.

[0053] The forward remote control command is a command sent by the ground control station of the UAV platform to the ground gateway station of the high-throughput satellite based on the user's telemetry and control requirements. The ground gateway station is equipped with TDMA service carriers, TDMA network control carriers, CDMA service carriers, and CDMA network control carriers; the UAV platform accesses the TDMA network and the CDMA network.

[0054] Step S104: Forward the forward remote control command to the UAV platform through the CDMA service channel.

[0055] Among them, the CDMA service channel refers to the channel of the CDMA service carrier.

[0056] Step S106: Receive the telemetry and control data transmitted back by the UAV platform through the TDMA service channel.

[0057] Among them, TDMA service channel refers to the channel of TDMA service carrier; telemetry and control data is the data obtained by the UAV platform after executing corresponding telemetry and control actions based on forward remote control commands.

[0058] Step S108: Send the telemetry and control data to the ground control station.

[0059] This invention provides a dual-mode telemetry and control method for unmanned aerial vehicles (UAVs) based on high-throughput satellites. This method addresses the bandwidth requirements of simultaneous communication by a large number of UAVs using high-throughput satellites. Furthermore, the ground gateway station of the high-throughput satellite is configured with TDMA service carriers, TDMA network control carriers, CDMA service carriers, and CDMA network control carriers. The ground gateway station transmits forward remote control commands through the CDMA service channel, while the UAV platform transmits back telemetry and control data through the TDMA service channel. In other words, a CDMA / TDMA dual-mode telemetry and control method is adopted, thereby improving the anti-interference performance of the high-throughput satellite forward link, avoiding the technical problem of easy interruption of UAV communication, and improving the reliability of the UAV satellite communication system.

[0060] In one alternative implementation, before performing the step of receiving forward remote control commands, the method further includes the following steps:

[0061] Step S1011: Receive the network access request sent by the UAV platform through the TDMA network control channel; wherein, the TDMA network control channel represents the channel of the TDMA network control carrier.

[0062] Step S1012: Based on the network access request, TDMA channel parameters and CDMA channel parameters are sent to the UAV platform through the TDMA network control channel, so that the UAV platform can access the TDMA network based on the TDMA channel parameters and access the CDMA network based on the CDMA channel parameters.

[0063] In one alternative implementation, after the UAV platform accesses the TDMA network based on TDMA channel parameters, the method further includes the following:

[0064] Receive ranging data sent by the UAV platform through the TDMA service channel; based on the ranging data, feed back return link calibration information to the UAV platform so that the UAV platform can calibrate the return link based on the return link calibration information.

[0065] In one optional implementation, both the CDMA service channel and the CDMA network control channel use direct sequence spread spectrum code division multiple access to encode the data to be transmitted; wherein, the CDMA network control channel refers to the channel of the CDMA network control carrier.

[0066] In one alternative implementation, after the UAV platform accesses the TDMA network based on TDMA channel parameters, the method further includes the following:

[0067] Receive the three-dimensional spatial coordinate data of the UAV platform transmitted through the TDMA service channel; manage the intra-beam service channel resources applied within its preset mission area based on the three-dimensional spatial coordinate data.

[0068] Example 3

[0069] See Figure 6 This invention provides an electronic device, which includes a processor 60, a memory 61, a bus 62, and a communication interface 63. The processor 60, the communication interface 63, and the memory 61 are connected via the bus 62. The processor 60 is used to execute executable modules, such as computer programs, stored in the memory 61.

[0070] The memory 61 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface 63 (which can be wired or wireless), such as the Internet, wide area network, local area network, metropolitan area network, etc.

[0071] Bus 62 can be an ISA bus, PCI bus, or EISA bus, etc. Buses can be divided into address buses, data buses, control buses, etc. For ease of representation, Figure 6 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0072] The memory 61 is used to store the program. After receiving the execution instruction, the processor 60 executes the program. The method executed by the apparatus defined by the process disclosed in any of the foregoing embodiments of the present invention can be applied to the processor 60 or implemented by the processor 60.

[0073] Processor 60 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of processor 60 or by instructions in software form. Processor 60 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory 61. Processor 60 reads the information in memory 61 and, in conjunction with its hardware, completes the steps of the above method.

[0074] The computer program product of the dual-mode telemetry and control system and method for unmanned aerial vehicles based on high-throughput satellites provided in this embodiment of the invention includes a computer-readable storage medium storing non-volatile program code executable by a processor. The instructions included in the program code can be used to execute the methods in the preceding method embodiments. For specific implementation, please refer to the method embodiments, which will not be repeated here.

[0075] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0076] If the functionality is implemented as a software functional unit and sold or used as an independent product, it can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0077] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0078] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0079] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0080] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dual-mode telemetry and control system for unmanned aerial vehicles (UAVs) based on high-throughput satellites, characterized in that, include: The unmanned aerial vehicle (UAV) platform, a high-throughput satellite, a ground gateway station for the high-throughput satellite, and a ground control station for the UAV platform; The ground control station is communicatively connected to the ground gateway station, which in turn is communicatively connected to the UAV platform via the high-throughput satellite. The ground gateway station is equipped with TDMA service carriers, TDMA network control carriers, CDMA service carriers, and CDMA network control carriers. The UAV platform accesses both the TDMA and CDMA networks. The channels of the TDMA network control carrier and the CDMA network control carrier operate in a time-division multiplexing manner, as do the channels of the TDMA service carrier and the CDMA service carrier. The ground control station sends forward remote control commands to the ground gateway station based on the user's telemetry and control requirements; The ground gateway station forwards the forward remote control command to the UAV platform through a CDMA service channel; wherein, the CDMA service channel represents the channel of the CDMA service carrier; The UAV platform executes corresponding telemetry and control actions based on the forward remote control command to obtain telemetry and control data, and transmits the telemetry and control data back to the ground gateway station through the TDMA service channel; wherein, the TDMA service channel represents the channel of the TDMA service carrier; The ground gateway station sends the telemetry and control data to the ground control station; The unmanned aerial vehicle platform accesses both TDMA and CDMA networks, including: The UAV platform sends a network access request to the ground gateway station via a TDMA network control channel; wherein, the TDMA network control channel represents the channel of the TDMA network control carrier; Based on the network access request, the ground gateway station sends TDMA channel parameters and CDMA channel parameters to the UAV platform through the TDMA network control channel; The unmanned aerial vehicle platform accesses the TDMA network based on the TDMA channel parameters, and accesses the CDMA network based on the CDMA channel parameters.

2. The dual-mode telemetry and control system for unmanned aerial vehicles based on high-throughput satellites according to claim 1, characterized in that, After the UAV platform accesses the TDMA network based on the TDMA channel parameters, the UAV platform is also used for: Ranging data is transmitted to the ground gateway station through the TDMA service channel; The ground gateway station sends back the return link calibration information to the UAV platform based on the ranging data; The UAV platform calibrates the return link based on the return link calibration information.

3. The dual-mode telemetry and control system for unmanned aerial vehicles based on high-throughput satellites according to claim 1, characterized in that, Both the CDMA service channel and the CDMA network control channel use direct sequence spread spectrum code division multiple access to encode the data to be transmitted; wherein, the CDMA network control channel refers to the channel of the CDMA network control carrier.

4. The dual-mode telemetry and control system for unmanned aerial vehicles based on high-throughput satellites according to claim 1, characterized in that, The unmanned aerial vehicle platform is also used to acquire its three-dimensional spatial coordinate data and send the three-dimensional spatial coordinate data to the ground gateway station through the TDMA service channel; The ground gateway station manages the intra-beam service channel resources used within its preset task area based on the three-dimensional spatial coordinate data.

5. A dual-mode telemetry and control method for unmanned aerial vehicles (UAVs) based on high-throughput satellites, characterized in that, The dual-mode telemetry and control system for unmanned aerial vehicles based on high-throughput satellites, applied to any one of claims 1-4, comprises: The system receives forward remote control commands; wherein the forward remote control commands are commands sent by the ground control station of the UAV platform to the ground gateway station of the high-throughput satellite based on the user's telemetry and control requirements; the ground gateway station is configured with TDMA service carriers, TDMA network control carriers, CDMA service carriers, and CDMA network control carriers; the UAV platform accesses the TDMA network and CDMA networks; the channels of the TDMA network control carrier and the CDMA network control carrier operate in a time-division multiplexing manner, and the channels of the TDMA service carrier and the CDMA service carrier operate in a time-division multiplexing manner. The forward remote control command is forwarded to the UAV platform via a CDMA service channel; wherein, the CDMA service channel represents the channel of the CDMA service carrier; The system receives telemetry and control data transmitted back by the UAV platform through a TDMA service channel; wherein, the TDMA service channel represents the channel of the TDMA service carrier; and the telemetry and control data is the data obtained by the UAV platform after executing corresponding telemetry and control actions based on the forward remote control command. The telemetry and control data is sent to the ground control station; Before receiving the forward remote control command, the process also includes: Receive the network access request sent by the UAV platform through the TDMA network control channel; wherein, the TDMA network control channel represents the channel of the TDMA network control carrier; Based on the network access request, the TDMA channel parameters and CDMA channel parameters are sent to the UAV platform through the TDMA network control channel, so that the UAV platform can access the TDMA network based on the TDMA channel parameters and access the CDMA network based on the CDMA channel parameters.

6. The dual-mode telemetry and control method for unmanned aerial vehicles based on high-throughput satellites according to claim 5, characterized in that, After the UAV platform accesses the TDMA network based on the TDMA channel parameters, it also includes: Receive ranging data sent by the UAV platform through the TDMA service channel; Based on the ranging data, the UAV platform is fed back the return link calibration information so that the UAV platform can calibrate the return link based on the return link calibration information.

7. An electronic device comprising a memory and a processor, wherein the memory stores a computer program executable on the processor, characterized in that, When the processor executes the computer program, it implements the dual-mode telemetry and control method for unmanned aerial vehicles based on high-throughput satellites as described in any one of claims 5 to 6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions, which, when executed by a processor, implement the dual-mode telemetry and control method for unmanned aerial vehicles based on high-throughput satellites as described in any one of claims 5 to 6.

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