Unmanned aerial vehicle beyond visual range measurement and control communication method and system

Abstract

The invention provides an over-the-horizon measurement and control communication method and system for an unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicle measurement and control, the over-the-horizon measurement and control communication system for the unmanned aerial vehicle comprises an airborne data terminal, a satellite transponder and a ground data terminal, and the airborne data terminal and the ground data terminal are configured with the same main frequency and standby frequency. And after the forward link and the reverse link established by the airborne data terminal and the ground data terminal through the satellite transponder by using the main frequency are interrupted, if the forward link does not return to normal when the first interruption duration reaches the preset duration, the airborne data terminal and the ground data terminal simultaneously switch the communication frequency to the standby frequency. Namely, the forward link and the reverse link of the unmanned aerial vehicle execute a double-frequency-point automatic switching strategy to ensure normal transmission of the links, so that the reliability of the beyond-visual-range communication link of the unmanned aerial vehicle is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle measurement and control, and in particular to a method and system for unmanned aerial vehicle beyond-visual-range measurement and control communication. Background Art

[0002] The existing UAV satellite communication system is a beyond-visual-range channel in the UAV measurement and control link, which is used to ensure the transmission of forward remote control commands and return composite telemetry data of the UAV within the beyond-visual-range range. However, in the existing technology, the UAV can only set one set of satellite frequencies. Once this set of frequencies is interfered with or the satellite transponder fails, the remote control link will be interrupted, which will cause flight failure. Therefore, how to improve the reliability of the UAV beyond-visual-range communication link has become a technical problem that needs to be solved urgently in the existing technology. Summary of the invention

[0003] The purpose of the present invention is to provide a method and system for unmanned aerial vehicle beyond-line-of-sight measurement and control communication, so as to alleviate the technical problem of low reliability of beyond-line-of-sight communication link existing in the unmanned aerial vehicle beyond-line-of-sight measurement and control communication system in the prior art.

[0004] In a first aspect, the present invention provides an unmanned aerial vehicle beyond-visual-range measurement and control communication system, comprising: an airborne data terminal, a satellite transponder and a ground data terminal; the airborne data terminal is deployed on the unmanned aerial vehicle, the satellite transponder is deployed on the communication satellite, and the ground data terminal is deployed in the ground control center of the unmanned aerial vehicle; the airborne data terminal and the ground data terminal are configured with the same primary frequency and backup frequency, and in an initial state, the airborne data terminal and the ground data terminal use the primary frequency to establish a forward link and a return link through the satellite transponder; the airborne data terminal is used to monitor the working status of the forward link, and when it is determined that the forward link is interrupted, record a first interruption duration; the ground data terminal is used to monitor the working status of the return link, and when it is determined that the return link is interrupted, record a second interruption duration; wherein, if the forward link is interrupted, the return link is interrupted at the same time; when it is determined that the first interruption duration reaches a preset duration, if the forward link has not returned to normal, the airborne data terminal and the ground data terminal simultaneously switch the communication frequency to the backup frequency.

[0005] Optionally, the airborne data terminal is specifically used to: determine whether a forward remote control signal is received through the forward link within a preset time period; if so, parse the forward remote control signal to determine the signal-to-noise ratio of the forward link; if the signal-to-noise ratio is greater than or equal to a first threshold, determine that the forward link is normal; if the signal-to-noise ratio is less than the first threshold and greater than a second threshold, determine that the forward link is interfered with; if the signal-to-noise ratio is less than or equal to the second threshold, or if no forward remote control signal is received within the preset time period, determine that the forward link is interrupted.

[0006] Optionally, when it is determined that the first interruption duration reaches a preset duration, if the forward link returns to normal, the airborne data terminal and the ground data terminal maintain the communication frequency as the main frequency.

[0007] Optionally, after the airborne data terminal and the ground data terminal switch the communication frequency to the backup frequency, if the forward link does not return to normal, the airborne data terminal starts a preset return procedure.

[0008] In a second aspect, the present invention provides a method for beyond-visual-range measurement and control communication of an unmanned aerial vehicle, which is applied to an airborne data terminal in the beyond-visual-range measurement and control communication system of an unmanned aerial vehicle in any of the aforementioned embodiments, and includes: monitoring the working status of a forward link; wherein the airborne data terminal and the ground data terminal are configured with the same main frequency and backup frequency, and in an initial state, the airborne data terminal and the ground data terminal use the main frequency to establish a forward link and a return link through a satellite transponder; when it is determined that the forward link is interrupted, recording a first interruption duration; when it is determined that the first interruption duration reaches a preset duration, if the forward link has not returned to normal, switching the communication frequency to a backup frequency; wherein, if the forward link is interrupted, the return link is interrupted at the same time, and when the airborne data terminal switches the communication frequency to the backup frequency, the ground data terminal switches the communication frequency to the backup frequency.

[0009] Optionally, it also includes: determining whether a forward remote control signal is received through the forward link within a preset time period; if so, parsing the forward remote control signal to determine the signal-to-noise ratio of the forward link; if the signal-to-noise ratio is greater than or equal to a first threshold, determining that the forward link is normal; if the signal-to-noise ratio is less than the first threshold and greater than a second threshold, determining that the forward link is interfered with; if the signal-to-noise ratio is less than or equal to the second threshold, or if no forward remote control signal is received within the preset time period, determining that the forward link is interrupted.

[0010] Optionally, the method further includes: when it is determined that the first interruption duration reaches a preset duration, if the forward link returns to normal, maintaining the communication frequency as the main frequency.

[0011] Optionally, the method further includes: after switching the communication frequency to the backup frequency, if the forward link does not return to normal, starting a preset return procedure.

[0012] In a third aspect, the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the computer program, the unmanned aerial vehicle beyond-visual-range measurement, control and communication method of any one of the aforementioned embodiments is implemented.

[0013] In a fourth aspect, the present invention provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed by a processor, the unmanned aerial vehicle beyond-visual-range measurement, control and communication method of any one of the aforementioned embodiments is implemented.

[0014] In the UAV beyond-visual-range measurement and control communication system provided by the present invention, the airborne data terminal and the ground data terminal are configured with the same main frequency and backup frequency. After the forward link and return link established by the airborne data terminal and the ground data terminal through the satellite transponder using the main frequency are interrupted, if the forward link has not returned to normal when the first interruption duration reaches the preset duration, the airborne data terminal and the ground data terminal simultaneously switch the communication frequency to the backup frequency. That is, the forward and return links of the UAV in the present invention implement a dual-frequency point automatic switching strategy to ensure the normal transmission of the link, thereby effectively improving the reliability of the UAV beyond-visual-range communication link. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 A schematic diagram of the structure of a UAV beyond-line-of-sight measurement, control and communication system provided by an embodiment of the present invention;

[0017] Figure 2 A flowchart of automatic switching of the main and standby frequencies of a UAV beyond-line-of-sight measurement and control communication system provided by an embodiment of the present invention;

[0018] Figure 3 A flowchart of a method for beyond-line-of-sight measurement and control communication of a drone provided by an embodiment of the present invention;

[0019] Figure 4 A schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions 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 part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0023] Embodiment 1

[0024] Figure 1 A schematic diagram of a UAV beyond-visual-range measurement and control communication system provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, the system includes: an airborne data terminal 100, a satellite transponder ( Figure 1 The airborne data terminal is deployed on the UAV, the satellite transponder is deployed on the communication satellite, and the ground data terminal is deployed in the ground control center of the UAV.

[0025] The airborne data terminal and the ground data terminal are configured with the same primary frequency and backup frequency, and in the initial state, the airborne data terminal and the ground data terminal use the primary frequency to establish a forward link and a return link through a satellite transponder.

[0026] The airborne data terminal is used to monitor the working status of the forward link and record the first interruption duration when it is determined that the forward link is interrupted.

[0027] The ground data terminal is used to monitor the working status of the return link and record the second interruption duration when it is determined that the return link is interrupted; wherein, if the forward link is interrupted, the return link is interrupted at the same time.

[0028] When it is determined that the first interruption duration reaches the preset duration, if the forward link has not recovered to normal, the airborne data terminal and the ground data terminal simultaneously switch the communication frequency to the backup frequency.

[0029] In the embodiment of the present invention, the ground data terminal and the airborne data terminal both have a backup frequency and an automatic switching function added to the main frequency. In the initial state, the ground data terminal and the airborne data terminal communicate through the main frequency. When not interfered with, the ground data terminal modem is locked (the locking state of the modem, parameters such as Eb / N0 and receiving level can be checked through ground equipment), and the forward link airborne modem is locked (the locking state can be checked through airborne monitoring). "Locked" can be understood as locking the communication frequency, and communication is normal at this communication frequency.

[0030] When the measurement and control link (including forward link and return link) between the ground data terminal and the airborne data terminal is normal, the working principle of the UAV beyond-visual-range measurement and control communication system is as follows:

[0031] Forward: The user sends the forward remote control information to the ground data terminal, which performs channel coding and spread spectrum modulation on the modulator of the ground data terminal, converts it into an intermediate frequency carrier signal of the specified frequency band, and then converts it into an RF carrier signal through an up-conversion power amplifier, performs power amplification, obtains the forward remote control signal, and finally sends it to the satellite through the antenna. The airborne data terminal receives the forward remote control signal (i.e., the forward link carrier signal) forwarded by the satellite, amplifies, converts the frequency, demodulates and decodes the forward remote control signal to restore the original remote control information.

[0032] Return: The data flow of the return link is opposite to that of the forward link. The composite data such as drone images and telemetry are sent to the airborne data terminal, which performs channel coding and modulation by the modulator of the airborne data terminal, and then the up-conversion power amplifier converts the frequency into a radio frequency carrier signal, performs power amplification, and finally sends it to the satellite through the antenna. The ground data terminal receives the return link carrier signal forwarded by the satellite, and recovers the return composite data synchronous data stream after amplification, frequency conversion, demodulation, and decoding.

[0033] During the flight of the drone, the airborne data terminal monitors the working status of the forward link, and the ground data terminal monitors the working status of the return link, wherein the working status of the forward and return links include: normal, interfered (although interfered, communication can still be maintained), interrupted (cannot communicate normally due to severe interference). In other words, when the system is severely interfered, the forward link will be interrupted, so that the airborne data terminal cannot receive the forward remote control signal, and will not return data to the ground data terminal. Therefore, in the embodiment of the present invention, when the forward link is interrupted, it is regarded as the return link is interrupted at the same time.

[0034] When the forward link and the return link are interrupted, the ground modem and the airborne modem are both in a unlocked state, that is, the UAV and the ground control center are in a disconnected state. At this time, the airborne control software of the airborne data terminal starts timing, and the ground control software of the ground data terminal also starts timing synchronously. Therefore, the first interruption duration of the forward link is equal to the second interruption duration of the return link.

[0035] When the first interruption duration reaches the preset duration, if the forward link still has not recovered to normal, the onboard control software of the onboard data terminal switches both the onboard transmission frequency and the receiving frequency to the backup frequency; at this time, the second interruption duration also reaches the preset duration, and since the forward link has not recovered, it is deemed that the return link has not recovered, so the ground control software of the ground data terminal also switches both the ground transmission frequency and the receiving frequency to the backup frequency. The embodiment of the present invention does not specifically limit the preset duration, and the user can set it according to actual needs, for example, 5 minutes.

[0036] In the UAV beyond-visual-range measurement and control communication system provided by the embodiment of the present invention, the airborne data terminal and the ground data terminal are configured with the same main frequency and backup frequency. After the forward link and return link established by the airborne data terminal and the ground data terminal through the satellite transponder using the main frequency are interrupted, if the forward link has not returned to normal when the first interruption duration reaches the preset duration, the airborne data terminal and the ground data terminal simultaneously switch the communication frequency to the backup frequency. That is, the forward and return links of the UAV in the embodiment of the present invention implement the dual-frequency point automatic switching strategy to ensure the normal transmission of the link, thereby effectively improving the reliability of the UAV beyond-visual-range communication link.

[0037] In an optional implementation manner, the onboard data terminal is specifically used for:

[0038] It is determined whether a forward remote control signal is received via the forward link within a preset time period.

[0039] If so, the forward remote control signal is parsed to determine the signal-to-noise ratio of the forward link.

[0040] If the signal-to-noise ratio is greater than or equal to the first threshold, it is determined that the forward link is normal.

[0041] If the signal-to-noise ratio is less than the first threshold and greater than the second threshold, it is determined that the forward link is interfered.

[0042] If the signal-to-noise ratio is less than or equal to the second threshold, or if the forward remote control signal is not received within a preset time period, it is determined that the forward link is interrupted.

[0043] Based on the above description, it can be known that the airborne data terminal needs to continuously determine the interference state of the system according to the signal-to-noise ratio of the forward link. Specifically, when the system is not interfered with, the signal-to-noise ratio of the forward link is high and greater than or equal to the first threshold value. At this time, it is determined that the forward link is normal; when the interference to the system is not strong, the signal-to-noise ratio of the forward link will decrease relative to the normal state, resulting in a signal-to-noise ratio less than the first threshold value but greater than the second threshold value. At this time, it is determined that the forward link is interfered; however, when the system is severely interfered with, the signal-to-noise ratio of the forward link drops sharply, resulting in a signal-to-noise ratio less than or equal to the second threshold value, and even causes the airborne data terminal to be unable to receive the forward remote control signal through the forward link. At this time, it is determined that the forward link is interrupted.

[0044] In an optional implementation, when it is determined that the first interruption duration reaches a preset duration, if the forward link is restored to normal, the airborne data terminal and the ground data terminal maintain the communication frequency as the primary frequency. In the embodiment of the present invention, the airborne data terminal continuously monitors the working status of the forward link, and the ground data terminal continuously monitors the working status of the return link. Once a link interruption is detected, a countdown of a preset duration is automatically started. If the countdown ends and the link is still not restored, the airborne data terminal and the ground data terminal will switch to the backup frequency at the same time.

[0045] In an optional implementation, after the airborne data terminal and the ground data terminal switch the communication frequency to the standby frequency, if the forward link does not return to normal, the airborne data terminal starts a preset return procedure.

[0046] After the airborne data terminal and the ground data terminal switch the communication frequency to the backup frequency, if the forward link returns to normal, the ground data terminal modem and the airborne modem will relock, and the forward and return links will be reestablished using the backup frequency, and the UAV will resume communication with the ground. However, if the forward link fails to return to normal after the airborne data terminal and the ground data terminal switch the communication frequency to the backup frequency, the airborne data terminal will start the preset return program to ensure the flight safety of the UAV. Based on the above description, Figure 2 A flowchart of automatic switching of primary and standby frequencies of a UAV beyond-visual-range measurement and control communication system provided by an embodiment of the present invention.

[0047] In summary, the embodiments of the present invention design the main and backup frequencies and the main and backup automatic switching program for the UAV beyond-visual-range measurement and control communication system, so that when the UAV is flying beyond visual range and the measurement and control link of the UAV is interrupted due to interference, the airborne data terminal and the ground data terminal can automatically switch frequencies, which provides conditions for the ground system to resume control of the UAV, improves the reliability of the UAV beyond-visual-range communication link, and can continue to complete the flight mission while ensuring the safety of the UAV.

[0048] Embodiment 2

[0049] An embodiment of the present invention also provides a method for beyond-line-of-sight measurement and control communication of an unmanned aerial vehicle. The method is mainly applied to the airborne data terminal in the beyond-line-of-sight measurement and control communication system of the unmanned aerial vehicle provided in the above-mentioned embodiment 1. The following is a specific introduction to the beyond-line-of-sight measurement and control communication method of the unmanned aerial vehicle provided in the embodiment of the present invention.

[0050] Figure 3 A flowchart of a method for beyond-visual-range measurement and control communication of an unmanned aerial vehicle provided by an embodiment of the present invention is shown in FIG. Figure 3 As shown, the method mainly includes the following steps:

[0051] Step S102, monitoring the working status of the forward link.

[0052] The airborne data terminal and the ground data terminal are configured with the same primary frequency and backup frequency, and in the initial state, the airborne data terminal and the ground data terminal use the primary frequency to establish a forward link and a return link through a satellite transponder.

[0053] Step S104: When it is determined that the forward link is interrupted, the first interruption duration is recorded.

[0054] Step S106: When it is determined that the first interruption duration reaches the preset duration, if the forward link has not recovered to normal, the communication frequency is switched to the standby frequency.

[0055] Among them, if the forward link is interrupted, the return link will be interrupted at the same time. When the airborne data terminal switches the communication frequency to the backup frequency, the ground data terminal switches the communication frequency to the backup frequency.

[0056] In the UAV beyond-visual-range measurement and control communication method provided by the present invention, the airborne data terminal and the ground data terminal are configured with the same main frequency and backup frequency. After the forward link and return link established by the airborne data terminal and the ground data terminal through the satellite transponder using the main frequency are interrupted, if the forward link has not returned to normal when the first interruption duration reaches the preset duration, the airborne data terminal and the ground data terminal simultaneously switch the communication frequency to the backup frequency. That is, the forward and return links of the UAV in the embodiment of the present invention implement a dual-frequency point automatic switching strategy to ensure the normal transmission of the link, thereby effectively improving the reliability of the UAV beyond-visual-range communication link.

[0057] In an optional embodiment, the method further comprises the following steps:

[0058] Step S201, determining whether a forward remote control signal is received via a forward link within a preset time period;

[0059] If yes, execute the following step S202; if no, execute the following step S205.

[0060] Step S202: parse the forward remote control signal to determine the signal-to-noise ratio of the forward link.

[0061] If the signal-to-noise ratio is greater than or equal to the first threshold, the following step S203 is performed.

[0062] If the signal-to-noise ratio is less than the first threshold and greater than the second threshold, the following step S204 is performed.

[0063] If the signal-to-noise ratio is less than or equal to the second threshold, the following step S205 is performed.

[0064] Step S203: determine whether the forward link is normal.

[0065] Step S204: determine whether the forward link is interfered.

[0066] Step S205: determine whether the forward link is interrupted.

[0067] In an optional embodiment, the method further includes the following:

[0068] In the case where it is determined that the first interruption duration reaches a preset duration, if the forward link recovers to normal, the communication frequency is maintained as the primary frequency.

[0069] In an optional embodiment, the method further includes the following:

[0070] After switching the communication frequency to the standby frequency, if the forward link does not return to normal, the preset return procedure is started.

[0071] Embodiment 3

[0072] See also Figure 4 An embodiment of the present invention provides an electronic device, which includes: a processor 60, a memory 61, a bus 62 and a communication interface 63, wherein the processor 60, the communication interface 63 and the memory 61 are connected via the bus 62; the processor 60 is used to execute an executable module stored in the memory 61, such as a computer program.

[0073] The memory 61 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 63 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0074] The bus 62 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0075] Among them, the memory 61 is used to store programs, and the processor 60 executes the program after receiving the execution instruction. The method executed by the device defined by the process disclosed in any embodiment of the above-mentioned embodiment of the present invention can be applied to the processor 60 or implemented by the processor 60.

[0076] The processor 60 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 60. The above 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 gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiments of the present invention can be directly embodied as a hardware decoding processor to be executed, or the hardware and software modules in the decoding processor can be executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 61, and the processor 60 reads the information in the memory 61 and completes the steps of the above method in combination with its hardware.

[0077] A computer program product of a method and system for beyond-visual-range measurement, control and communication of an unmanned aerial vehicle provided in an embodiment of the present invention includes a computer-readable storage medium storing a non-volatile program code executable by a processor. The instructions included in the program code can be used to execute the method described in the previous method embodiment. For specific implementation, please refer to the method embodiment, which will not be repeated here.

[0078] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0079] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0080] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0081] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0082] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0083] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements 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 UAV beyond-line-of-sight measurement, control and communication system, characterized in that: include: An airborne data terminal, a satellite transponder and a ground data terminal; the airborne data terminal is deployed on the UAV, the satellite transponder is deployed on the communication satellite, and the ground data terminal is deployed in the ground control center of the UAV; The airborne data terminal and the ground data terminal are configured with the same primary frequency and backup frequency, and in an initial state, the airborne data terminal and the ground data terminal use the primary frequency to establish a forward link and a return link through the satellite transponder; The onboard data terminal is used to monitor the working status of the forward link and record the first interruption duration when it is determined that the forward link is interrupted; The ground data terminal is used to monitor the working state of the return link, and record the second interruption duration when determining that the return link is interrupted; wherein, if the forward link is interrupted, the return link is interrupted at the same time; When it is determined that the first interruption duration reaches a preset duration, if the forward link has not recovered to normal, the airborne data terminal and the ground data terminal simultaneously switch the communication frequency to the backup frequency.

2. The UAV beyond-visual-range measurement, control and communication system according to claim 1 is characterized in that: The airborne data terminal is specifically used for: determining whether a forward remote control signal is received via the forward link within a preset time period; If yes, parsing the forward remote control signal to determine the signal-to-noise ratio of the forward link; If the signal-to-noise ratio is greater than or equal to a first threshold, determining that the forward link is normal; If the signal-to-noise ratio is less than the first threshold and greater than a second threshold, determining that the forward link is interfered; If the signal-to-noise ratio is less than or equal to the second threshold, or the forward remote control signal is not received within the preset time period, it is determined that the forward link is interrupted.

3. The UAV beyond-visual-range measurement, control and communication system according to claim 1 is characterized in that: In the case where it is determined that the first interruption duration reaches a preset duration, if the forward link returns to normal, the airborne data terminal and the ground data terminal maintain the communication frequency as the primary frequency.

4. The UAV beyond-visual-range measurement, control and communication system according to claim 1, characterized in that: After the airborne data terminal and the ground data terminal switch the communication frequency to the standby frequency, if the forward link does not return to normal, the airborne data terminal starts a preset return program.

5. A UAV beyond-line-of-sight measurement and control communication method, characterized in that: An airborne data terminal used in the UAV beyond-visual-range measurement, control and communication system according to any one of claims 1 to 4 comprises: Monitoring the working status of the forward link; wherein the airborne data terminal and the ground data terminal are configured with the same primary frequency and backup frequency, and in an initial state, the airborne data terminal and the ground data terminal use the primary frequency to establish a forward link and a return link through a satellite transponder; In the case of determining that the forward link is interrupted, recording a first interruption duration; In the case where it is determined that the first interruption duration reaches a preset duration, if the forward link has not recovered to normal, switching the communication frequency to a standby frequency; Wherein, if the forward link is interrupted, the return link is interrupted at the same time, and when the airborne data terminal switches the communication frequency to the backup frequency, the ground data terminal switches the communication frequency to the backup frequency.

6. The UAV beyond-visual-range measurement and control communication method according to claim 5, characterized in that: Also includes: determining whether a forward remote control signal is received via the forward link within a preset time period; If yes, parsing the forward remote control signal to determine the signal-to-noise ratio of the forward link; If the signal-to-noise ratio is greater than or equal to a first threshold, determining that the forward link is normal; If the signal-to-noise ratio is less than the first threshold and greater than a second threshold, determining that the forward link is interfered; If the signal-to-noise ratio is less than or equal to the second threshold, or the forward remote control signal is not received within the preset time period, it is determined that the forward link is interrupted.

7. The UAV beyond-visual-range measurement and control communication method according to claim 5 is characterized in that: Also includes: In the case where it is determined that the first interruption duration reaches a preset duration, if the forward link recovers to normal, the communication frequency is maintained as the primary frequency.

8. The UAV beyond-visual-range measurement and control communication method according to claim 5, characterized in that: Also includes: After switching the communication frequency to the standby frequency, if the forward link does not return to normal, the preset return procedure is started.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, wherein: When the processor executes the computer program, the unmanned aerial vehicle beyond-visual-range measurement, control and communication method described in any one of claims 5 to 8 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed by the processor, the unmanned aerial vehicle beyond-visual-range measurement, control and communication method according to any one of claims 5 to 8 is implemented.

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