Method and system for beyond visual line of sight measurement and control communication of unmanned aerial vehicle

Abstract

The application provides a UAV over-the-horizon measurement and control communication method and system, and relates to the technical field of UAV measurement and control.The UAV over-the-horizon measurement and control communication system comprises an airborne data terminal, a satellite repeater and a ground data terminal, and 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 repeater using the main frequency is interrupted, if the first interruption duration reaches the preset duration and the forward link has not been restored to normal, 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 application implement a double-frequency automatic switching strategy to ensure the normal transmission of the link, thereby effectively improving the reliability of the UAV over-the-horizon communication link.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle measurement and control, and in particular to an unmanned aerial vehicle over-the-horizon measurement and control communication method and system. BACKGROUND

[0002] The existing unmanned aerial vehicle satellite communication system is an over-the-horizon channel in the unmanned aerial vehicle measurement and control link, and is used to ensure the transmission of forward remote control instructions and return composite telemetry data of the unmanned aerial vehicle in the over-the-horizon range. However, in the prior art, the unmanned aerial vehicle can only set a group of satellite frequencies. Once this group of frequencies is disturbed or the satellite transponder fails, the remote control link is interrupted, which will cause a flight failure. Therefore, how to improve the reliability of the over-the-horizon communication link of the unmanned aerial vehicle has become a technical problem to be solved in the prior art. SUMMARY

[0003] The present application aims to provide an unmanned aerial vehicle over-the-horizon measurement and control communication method and system to alleviate the technical problem of low reliability of the over-the-horizon communication link of the existing unmanned aerial vehicle over-the-horizon measurement and control communication system.

[0004] In a first aspect, the present application provides an unmanned aerial vehicle over-the-horizon measurement and control communication system, comprising: an airborne data terminal, a satellite transponder and a ground data terminal; the airborne data terminal is arranged on the unmanned aerial vehicle, the satellite transponder is arranged on the communication satellite, and the ground data terminal is arranged on 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 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 the satellite transponder; the airborne data terminal is used to monitor the working state of the forward link, and in the case of determining that the forward link is interrupted, a first interruption time is recorded; the ground data terminal is used to monitor the working state of the return link, and in the case of determining that the return link is interrupted, a second interruption time is recorded; wherein, if the forward link is interrupted, the return link is also interrupted; in the case of determining that the first interruption time reaches a preset time length, 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 for: determining whether a forward remote control signal is received through the forward link within a preset time period; if yes, the forward remote control signal is analyzed 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 value, it is determined that the forward link is normal; if the signal-to-noise ratio is less than the first threshold value and greater than a second threshold value, it is determined that the forward link is disturbed; if the signal-to-noise ratio is less than or equal to the second threshold value, or the forward remote control signal is not received within the preset time period, it is determined that the forward link is interrupted.

[0006] Optionally, 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, when the first interruption duration reaches the preset duration.

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

[0008] In the second aspect, the present application provides a UAV over-the-horizon measurement and control communication method applied to the airborne data terminal in the UAV over-the-horizon measurement and control communication system of any one of the preceding embodiments, comprising: monitoring the working state 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 the initial state, the airborne data terminal and the ground data terminal use the primary frequency to establish the forward link and the return link through the satellite transponder; in the case of determining that the forward link is interrupted, recording the first interruption duration; in the case of determining that the first interruption duration reaches the preset duration, if the forward link is not restored to normal, switching the communication frequency to the backup frequency; wherein if the forward link is interrupted, the return link is also interrupted, and 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.

[0009] Optionally, it further comprises: determining whether the forward remote control signal is received through the forward link within the preset time period; if yes, analyzing 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 the first threshold value, it is determined that the forward link is normal; if the signal-to-noise ratio is less than the first threshold value and greater than the second threshold value, it is determined that the forward link is interfered; if the signal-to-noise ratio is less than or equal to the second threshold value, or the forward remote control signal is not received within the preset time period, it is determined that the forward link is interrupted.

[0010] Optionally, if the forward link is restored to normal, the communication frequency is maintained as the primary frequency, when the first interruption duration reaches the preset duration.

[0011] Optionally, if the forward link is not restored to normal, a preset return procedure is started, after the communication frequency is switched to the backup frequency.

[0012] In the third aspect, the present application provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program capable of running on the processor, and the processor implements the UAV over-the-horizon measurement and control communication method of any one of the preceding embodiments when executing the computer program.

[0013] In a fourth aspect, the present application provides a computer readable storage medium, which stores computer instructions, and the computer instructions are executed by a processor to implement the UAV beyond visual line-of-sight measurement and control communication method in any of the foregoing embodiments.

[0014] In the UAV beyond visual line-of-sight measurement and control communication system, the airborne data terminal and the ground data terminal are configured with the same primary frequency and backup frequency. After the forward link and the return link established by the airborne data terminal and the ground data terminal using the primary frequency through the satellite transponder are interrupted, if the first interruption duration reaches the preset duration and the forward link has not been restored to normal, 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 application implement a dual-frequency automatic switching strategy to ensure the normal transmission of the link, thereby effectively improving the reliability of the UAV beyond visual line-of-sight communication link. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed in the specific embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0016] Figure 1 A structural schematic diagram of a UAV beyond visual line-of-sight measurement and control communication system provided by the embodiment of the present application;

[0017] Figure 2 A flowchart of primary and backup frequency automatic switching of a UAV beyond visual line-of-sight measurement and control communication system provided by the embodiment of the present application;

[0018] Figure 3 A flowchart of a UAV beyond visual line-of-sight measurement and control communication method provided by the embodiment of the present application;

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

[0020] In order to make the purpose, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, not all the embodiments. The components of the embodiments of the present application 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 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.

[0022] 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.

[0023] Example 1

[0024] Figure 1 This is a schematic diagram of the structure of a UAV beyond-line-of-sight telemetry and communication system provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the system includes: an airborne data terminal 100, a satellite transponder ( Figure 1 (Not shown in the image) and ground data terminal 200; 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 at the UAV's ground control center.

[0025] The airborne data terminal and the ground data terminal are configured with the same primary and backup frequencies. In the initial state, the airborne data terminal and the ground data terminal use the primary frequency to establish forward and return links through satellite transponders.

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

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

[0028] If the forward link fails to return to normal after the first interruption duration has been determined to have reached the preset duration, the airborne data terminal and the ground data terminal will simultaneously switch their communication frequencies to the backup frequencies.

[0029] In this embodiment of the invention, both the ground data terminal and the airborne data terminal have added a backup frequency and automatic switching function on the basis of the primary frequency. In the initial state, the ground data terminal and the airborne data terminal communicate through the primary frequency. When there is no interference, the ground data terminal modem is locked (the lock status of the modem, Eb / N0, received level and other parameters can be viewed through ground equipment), and the forward link airborne modem is locked (the lock status can be viewed through airborne monitoring). "Locked" can be understood as locking the communication frequency, and communication is normal under this communication frequency.

[0030] When the TT&C 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 over-the-horizon TT&C communication system is as follows:

[0031] Forward: the user sends forward remote control information to the ground data terminal, the modulator of the ground data terminal performs channel coding and spread spectrum modulation, converts the forward remote control information into an intermediate frequency carrier signal of a specified frequency band, then converts the intermediate frequency carrier signal into a radio frequency carrier signal through an up-conversion power amplifier, and performs power amplification to obtain a forward remote control signal, and finally transmits the forward remote control signal to the satellite through an antenna. The airborne data terminal receives the forward remote control signal (i.e., the forward link carrier signal) transmitted by the satellite, and performs amplification, frequency conversion, demodulation and decoding on the forward remote control signal to recover the original remote control information.

[0032] Return: the return link data flow is opposite to the forward link. The composite data synchronous data stream of the UAV image and telemetry is sent to the airborne data terminal, the modulator of the airborne data terminal performs channel coding and modulation, converts the composite data synchronous data stream into a radio frequency carrier signal through an up-conversion power amplifier, and performs power amplification, and finally transmits the return link carrier signal to the satellite through an antenna. The ground data terminal receives the return link carrier signal transmitted by the satellite, and performs amplification, frequency conversion, demodulation and decoding to recover the return composite data synchronous data stream.

[0033] During the flight of the UAV, the airborne data terminal monitors the working state of the forward link, and the ground data terminal monitors the working state of the return link. The working states of the forward and return links include normal, interference (although interference occurs, communication can still be maintained), and interruption (normal communication cannot be maintained due to serious interference). That is to say, when the system is seriously interfered, the forward link will be interrupted, so that the airborne data terminal cannot receive the forward remote control signal, and thus the airborne data terminal will not return data to the ground data terminal. Therefore, in the embodiment of the present application, when the forward link is interrupted, it is considered that the return link is also interrupted.

[0034] When the forward link and the return link are interrupted, the ground modem and the airborne modem are in a lock loss state, that is, the UAV and the ground control center are in a disconnection 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 is still not normal, the airborne control software of the airborne data terminal switches the airborne transmitting frequency and the airborne receiving frequency to the backup frequency; at this time, the second interruption duration also reaches the preset duration, and since the forward link is not recovered, it is considered that the return link is also not recovered, so the ground control software of the ground data terminal also switches the ground transmitting frequency and the ground receiving frequency to the backup frequency. The preset duration is not specifically limited in the embodiment of the application, and can be set according to actual needs, for example, 5 minutes.

[0036] In the UAV over-the-horizon measurement and control communication system provided by the embodiment of the application, the airborne data terminal and the ground data terminal are configured with the same main frequency and backup frequency, after the forward link and the return link established by the airborne data terminal and the ground data terminal using the main frequency through the satellite transponder are interrupted, if the forward link has not been recovered 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 link and the return link of the UAV in the embodiment of the application perform a double-frequency automatic switching strategy to ensure the normal transmission of the link, thereby effectively improving the reliability of the over-the-horizon communication link of the UAV.

[0037] In an optional embodiment, the airborne data terminal is specifically used for:

[0038] judging whether a forward remote control signal is received through the forward link in a preset time period.

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

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

[0041] If the signal-to-noise ratio is less than the first threshold value and greater than a second threshold value, 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 value, or the forward remote control signal is not received in the preset time period, it is determined that the forward link is interrupted.

[0043] Based on the above description, the airborne data terminal needs to continuously determine the disturbed state of the system according to the signal-to-noise ratio of the forward link. Specifically, when the system is not disturbed, the signal-to-noise ratio of the forward link is relatively high, greater than or equal to the first threshold, at this time, it is determined that the forward link is normal; when the system is not disturbed, the signal-to-noise ratio of the forward link will decrease compared with the normal state, resulting in that the signal-to-noise ratio is less than the first threshold but greater than the second threshold, at this time, it is determined that the forward link is disturbed; however, when the system is severely disturbed, the signal-to-noise ratio of the forward link decreases sharply, resulting in that the signal-to-noise ratio is less than or equal to the second threshold, or even the airborne data terminal cannot 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 embodiment, if the forward link returns to normal after the first interruption duration reaches the preset duration, the airborne data terminal and the ground data terminal maintain the communication frequency as the main frequency. In the embodiment of the present application, the airborne data terminal continuously monitors the working state of the forward link, and the ground data terminal continuously monitors the working state of the return link. Once the link interruption is monitored, the preset duration countdown is automatically started. If the countdown ends and it is still not restored, the airborne data terminal and the ground data terminal will simultaneously switch to the backup frequency.

[0045] In an optional embodiment, 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 program.

[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 relock, the forward and return links use the backup frequency to reestablish, and the unmanned aerial vehicle restores the 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 a preset return program to ensure the flight safety of the unmanned aerial vehicle. In summary, Figure 2 A flowchart of automatic switching of main and backup frequencies of an over-the-horizon measurement and control communication system of an unmanned aerial vehicle is provided in the embodiment of the present application.

[0047] In summary, the embodiment of the present application designs the main and backup frequencies and the main and backup automatic switching program for the over-the-horizon measurement and control communication system of the unmanned aerial vehicle. When the unmanned aerial vehicle over-the-horizon flies and the measurement and control link of the unmanned aerial vehicle is disturbed and interrupted, the airborne data terminal and the ground data terminal can automatically switch the frequency, which provides conditions for the ground system to reestablish the control of the unmanned aerial vehicle, and improves the reliability of the over-the-horizon communication link of the unmanned aerial vehicle, so that the flight task can be continued under the premise of ensuring the safety of the unmanned aerial vehicle.

[0048] Embodiment two

[0049] The embodiment of the present application also provides a UAV beyond-visual-range measurement and control communication method, which is mainly applied to the airborne data terminal in the UAV beyond-visual-range measurement and control communication system provided in the above embodiment one, and the UAV beyond-visual-range measurement and control communication method provided by the embodiment of the present application will be specifically introduced below.

[0050] Figure 3 A flow chart of the UAV beyond-visual-range measurement and control communication method provided by the embodiment of the present application is shown in the figure, Figure 3 The method mainly comprises the following steps:

[0051] Step S102, monitoring the working state 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 the forward link and the return link through the satellite transponder.

[0053] Step S104, in the case that the forward link is determined to be interrupted, recording the first interruption duration.

[0054] Step S106, in the case that the first interruption duration is determined to reach the preset duration, if the forward link is not recovered to be normal, switching the communication frequency to the backup frequency.

[0055] The return link is interrupted at the same time if the forward link is interrupted, and the ground data terminal switches the communication frequency to the backup frequency at the same time when the airborne 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 application, the airborne data terminal and the ground data terminal are configured with the same primary frequency and backup frequency, and after the forward link and the return link established by the airborne data terminal and the ground data terminal using the primary frequency through the satellite transponder are interrupted, if the first interruption duration reaches the preset duration and the forward link has not been recovered to be normal, the airborne data terminal and the ground data terminal switch the communication frequency to the backup frequency at the same time. That is to say, the forward and return links of the UAV in the embodiment of the present application implement the dual-frequency 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 alternative embodiment, the method further comprises the following steps:

[0058] Step S201, judging whether the forward remote control signal is received through the forward link in a preset time period;

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

[0060] Step S202, the forward remote control signal is parsed 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, it is determined that the forward link is normal.

[0065] Step S204, it is determined that the forward link is interfered.

[0066] Step S205, it is determined that the forward link is interrupted.

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

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

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

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

[0071] Embodiment three

[0072] Referring to Figure 4 The electronic device provided by the embodiment of the present application comprises 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 through the bus 62; the processor 60 is used for executing the executable modules stored in the memory 61, such as a computer program.

[0073] The memory 61 may contain a high-speed random access memory (RAM, Random Access Memory) 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 can be wired or wireless), and the Internet, a wide area network, a local area network, a metropolitan area network, etc. can be used.

[0074] The bus 62 can be an ISA bus, a PCI bus, an EISA bus, or the like. The bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, Figure 4 Only one bidirectional arrow is used to represent the bus in the figure, but it does not mean that there is only one bus or only one type of bus.

[0075] The memory 61 is configured to store a program, and the processor 60 executes the program after receiving an execution instruction. The method executed by the device defined by the process disclosed in any of the embodiments of the present application can be applied to the processor 60 or implemented by the processor 60.

[0076] The processor 60 can be an integrated circuit chip with a processing capability of signals. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor 60 or an instruction in the form of software. The processor 60 described above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), and the like; 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. Each method, step and logic block diagram disclosed in the embodiments of the present application 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 combination with the embodiments of the present application can be directly embodied as a hardware code processor for execution, or a combination of hardware and software modules in the code processor for execution. The software module can be located in a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, or other mature storage media in the art. The storage medium is located in the memory 61, and the processor 60 reads the information in the memory 61 and combines the hardware to complete the steps of the above method.

[0077] The computer program product of the unmanned aerial vehicle over-the-horizon measurement and control communication method and system provided by the embodiments of the present application includes a computer readable storage medium storing non-volatile program codes executable by a processor. The instructions included in the program codes can be used to execute the method described in the foregoing method embodiments. For specific implementation, reference can be made to the method embodiments, which will not be described here.

[0078] In addition, each function unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0079] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a nonvolatile computer readable storage medium executable by a processor. Based on this understanding, the technical solutions of the present application or the part of the present application that essentially contributes to the prior art or the part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0080] It should be noted that similar reference numerals and letters refer to similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0081] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present application is usually placed, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third", and the like 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 must be absolutely horizontal or overhanging, but can be slightly inclined. For example, "horizontal" only 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 inclined.

[0083] In the description of the present application, it also needs to be explained that, unless explicitly specified and limited, the terms "set", "install", "connect", "connect" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0084] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A beyond-line-of-sight telemetry, telemetry, and communication system for unmanned aerial vehicles (UAVs), 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 a communication satellite, and the ground data terminal is deployed at the ground control center of the UAV; The airborne data terminal and the ground data terminal are configured with the same primary and backup frequencies. 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 the satellite transponder. The airborne data terminal is used to monitor the working status of the forward link and, if it is determined that the forward link is interrupted, record the first interruption duration. The ground data terminal is used to monitor the working status of the return link and, if it is determined that the return link is interrupted, to record the second interruption duration; wherein, if the forward link is interrupted, the return link is also interrupted. If the forward link fails to return to normal after the first interruption duration is determined to have reached the preset duration, the airborne data terminal and the ground data terminal shall simultaneously switch their communication frequency to the backup frequency.

2. The UAV beyond-line-of-sight telemetry and communication system according to claim 1, characterized in that, The airborne data terminal is specifically used for: Determine whether a forward remote control signal is received through the forward link within a preset time period; If so, the forward remote control signal is analyzed to determine the signal-to-noise ratio of the forward link; If the signal-to-noise ratio is greater than or equal to the first threshold, then the forward link is determined to be normal. If the signal-to-noise ratio is less than the first threshold and greater than the second threshold, then it is determined that the forward link is being interfered with; 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 the preset time period, then the forward link is determined to be interrupted.

3. The UAV beyond-line-of-sight telemetry and communication system according to claim 1, characterized in that, If the forward link recovers to normal after the first interruption duration reaches the preset duration, the airborne data terminal and the ground data terminal maintain communication at the primary frequency.

4. The UAV beyond-line-of-sight telemetry and communication system according to claim 1, characterized in that, After the airborne data terminal and the ground data terminal switch their communication frequency to the backup frequency, if the forward link does not return to normal, the airborne data terminal initiates a preset return-to-home procedure.

5. A method for beyond-line-of-sight telemetry, measurement, and communication of unmanned aerial vehicles (UAVs), characterized in that, An airborne data terminal used in any one of the UAV beyond-line-of-sight telemetry and communication systems according to claims 1-4, comprising: Monitor 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 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 the satellite transponder; If the forward link is determined to be interrupted, the duration of the first interruption is recorded; If the forward link fails to return to normal after the first interruption duration is determined to have reached the preset duration, the communication frequency is switched to the backup frequency. If the forward link is interrupted, the return link is also interrupted. At the same time that the airborne data terminal switches its communication frequency to the backup frequency, the ground data terminal switches its communication frequency to the backup frequency.

6. The UAV beyond-line-of-sight telemetry and communication method according to claim 5, characterized in that, Also includes: Determine whether a forward remote control signal is received through the forward link within a preset time period; If so, the forward remote control signal is analyzed to determine the signal-to-noise ratio of the forward link; If the signal-to-noise ratio is greater than or equal to the first threshold, then the forward link is determined to be normal. If the signal-to-noise ratio is less than the first threshold and greater than the second threshold, then it is determined that the forward link is being interfered with; 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 the preset time period, then the forward link is determined to be interrupted.

7. The UAV beyond-line-of-sight telemetry and communication method according to claim 5, characterized in that, Also includes: If the forward link recovers to normal after the first interruption duration reaches the preset duration, the communication frequency is maintained at the primary frequency.

8. The UAV beyond-line-of-sight telemetry and communication method according to claim 5, characterized in that, Also includes: If the forward link does not return to normal after the communication frequency is switched to the backup frequency, a preset return-to-home procedure is initiated.

9. 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 UAV beyond-line-of-sight telemetry and communication method as described in any one of claims 5 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions, which, when executed by a processor, implement the UAV beyond-line-of-sight telemetry and communication method as described in any one of claims 5 to 8.

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