A method for two-station cooperative control and control handover of a dual-datalink unmanned aerial vehicle

Abstract

The present application belongs to mechanical design technical field, disclose a kind of two-station cooperative control and control right switching method of dual data link unmanned aerial vehicle, process as follows: step one: unmanned aerial vehicle power-on initialization, and with A station is established connection, A station enters single station remote control telemetry mode, B station enters waiting state;Step two: whether unmanned aerial vehicle enters cooperative control or control right switching area is judged, if enter, then adjust flight state, otherwise maintain in step two;Step three: B station enters only telemetry mode;Step four: A station B chain is disconnected with unmanned aerial vehicle, B station B chain is established connection with unmanned aerial vehicle, enters two-station one-machine cooperative control mode;Step five: control right is switched from A station's A chain to B station's B chain;Step six: A station enters only telemetry mode;Step seven: B station enters single station remote control telemetry mode, B station controls itself and unmanned aerial vehicle to restore normal channel, A station exits only telemetry mode.

Description

Technical Field

[0001] This invention belongs to the field of remote control and telemetry technology for unmanned aerial vehicles, and specifically relates to a method for two-station collaborative control and control switching of a dual-data-link unmanned aerial vehicle. Background Technology

[0002] With the continuous improvement of my country's unmanned aerial vehicle (UAV) design and manufacturing capabilities, their application scenarios are becoming increasingly broad, including forest fire fighting, maritime patrol, and material transportation. In some special scenarios, there are technical demands for extending the operational range of UAVs, enabling long-distance low-altitude operations, and facilitating take-off and landing in different locations. Against this backdrop, how to safely and conveniently achieve collaborative control and control handover between different control stations for UAVs has become one of the key research focuses in the field of UAV remote control and telemetry. Currently, some relevant methods for UAV control handover have been developed in China:

[0003] Application No. 202211459268.2, entitled "A Method for Handing Over Control of a UAV between a Portable Control Station and a Ground Control Station," proposes the following method: The master station sets the data link uplink to silent mode. After the slave station receives telemetry data and determines that the data link uplink has lost lock, it sets the slave station's data link uplink to active mode and re-establishes a connection with the UAV, thereby transferring control from the master station to the slave station. This method is suitable for UAVs using a single data link for remote control and telemetry, but there is a control gap during the handover process where the connection between the UAV and both stations is interrupted.

[0004] Application No. 202110929094.0, entitled "A Method for Cooperative Control of a UAV by Two Ground Stations," proposes the following method: The control station establishes uplink and downlink links with both the main and secondary links of the UAV; the requesting station establishes a downlink link with the main link of the UAV and uplink and downlink links with the secondary link; a dedicated scheduling module for cooperative control is set up, which communicates with the control station, the requesting station, the flight control module, and the mission module, respectively, and is used to receive and forward request and response messages and control data; the requesting station initiates a control request, and after the control station grants authorization, it switches platform control or payload control to the requesting station. This method solves the control window problem, but requires the secondary link to support multi-point communication, which is more expensive than point-to-point communication data links. Furthermore, the addition of the scheduling module hardware further increases the system cost.

[0005] Other methods also generally require the data link to support multi-point communication, which similarly increases system costs. Summary of the Invention

[0006] Purpose of the invention: To address the above problems and considering the fact that most medium and large unmanned aerial vehicles (UAVs) are equipped with two or more data link devices, a method for two-station collaborative control and control handover of dual-data link UAVs is proposed. This method uses single-point to single-point data links, eliminating the need for additional related hardware. It not only solves the problem of control handover gaps but also enables communication and interaction between the two stations, thus achieving a collaborative control and control handover method that is safe, relatively low-cost, and easy to operate.

[0007] Based on the characteristics of remote control and telemetry of UAVs with dual data links, this invention proposes a method for two-station collaborative control and control switching suitable for UAVs with dual data links, and includes risk identification and risk reduction measures.

[0008] Technical solution

[0009] A method for two-station cooperative control and control handover of a dual-datalink unmanned aerial vehicle, the process of which is as follows:

[0010] Step 1: The UAV is powered on and initialized, and a connection is established with station A. Station A enters single-station remote control and telemetry mode, and station B enters a waiting state.

[0011] Step 2: Determine whether the unmanned aerial vehicle has entered the cooperative control or control switching area. If it has, adjust the flight status; otherwise, continue in step 2.

[0012] Step 3: Bilibili enters telemetry-only mode;

[0013] Step 4: The B-chain at Station A disconnects from the UAV, and the B-chain at Station B establishes a connection with the UAV, entering the two-station-one-UAV collaborative control mode;

[0014] Step 5: Switch control from Link A on Station A to Link B on Station B;

[0015] Step Six: Station A enters telemetry-only mode;

[0016] Step 7: Station B enters single-station remote control and telemetry mode, and Station B controls itself and the UAV to return to the normal channel, while Station A exits telemetry-only mode.

[0017] Furthermore, in step one, after the unmanned aerial vehicle establishes a connection with station A, it transmits the current remote control signal source information.

[0018] Furthermore, in step two, after the unmanned aerial vehicle enters the area of ​​cooperative control or control switching, it maintains a hovering or low-to-medium speed straight flight state.

[0019] Furthermore, in step two, after the UAV enters the collaborative control or control switching area, Station B powers on both chains and simultaneously sets the uplink of Chain A and Chain B to a silent state, while the downlink of Chain A and Chain B enters the switching dedicated channel; Station A switches both the uplink and downlink of Chain A and Chain B to the switching dedicated channel; at the same time, Station A controls the UAV to enter the switching dedicated channel.

[0020] Furthermore, in step three, the process is as follows:

[0021] Station A uploads a notification message indicating that it is preparing to start a switchover of control.

[0022] After receiving the notification message indicating preparation to initiate a switchover of control, the unmanned aerial vehicle transmits it down.

[0023] After receiving the notification that control was about to be switched, Bilibili maintained telemetry monitoring of the unmanned aerial vehicle and entered telemetry-only mode.

[0024] Furthermore, in step four, the process is as follows:

[0025] Step 1. Station A confirms that the enable signal of the external control box of Station A is in the off state and uploads the external control box status confirmation notification information; the UAV receives the external control box status confirmation notification information and downloads the notification information; Station B sets the control values ​​of each channel of the external control box of Station B to be consistent with the downloaded external control box control values, and turns off the enable signal of the external control box of Station B.

[0026] Step 2. Station A sends a command to initiate the control handover procedure and a notification that the control handover procedure has been initiated. After receiving the command and notification, the UAV initiates the control handover procedure and transmits the status and the notification. Station B receives the telemetry feedback from the UAV and enters the control handover implementation procedure.

[0027] Step 3. Station A receives telemetry feedback from the UAV, sets Station A's B-chain uplink to silent, and uploads a notification message that Station A's B-chain uplink is silent; the UAV receives the notification message that Station A's B-chain uplink is silent and downloads the notification message; Station B receives the notification message that Station A's B-chain uplink is silent, sets Station B's B-chain uplink to active, and enters the dedicated control channel at high power.

[0028] Step 4. The UAV establishes a connection with Bilibili's B-link. Bilibili receives telemetry feedback confirming the B-link connection has been restored and uploads a notification that the B-link connection has been established. The UAV receives the notification and downloads it. Station A receives the notification that the B-link connection has been established. At this point, the two stations and one UAV enter the collaborative control mode.

[0029] Furthermore, in step five, the process is as follows:

[0030] Step 1. Station A uploads a notification message indicating preparation for switching remote control signal sources and handing over control; the UAV receives the notification message and downloads it; Station B receives the notification message and prepares to take over control.

[0031] Step 2. Bilibili uploads the notification message indicating agreement to switch remote control signal source; the UAV receives the notification message and downloads it; after receiving the notification message, Bilibili proceeds to the next step.

[0032] Step 3. Station A sends a command to switch the remote control signal source. After receiving the command, the UAV switches to use the remote control signal source B-chain. The UAV checks whether the control station number in the remote control signal source information is valid. If valid, it responds to the remote control command normally and transmits the remote control signal source information with the control station number. If it is an illegal control station, it does not respond to the remote control command, transmits the illegal control station notification information, and triggers a return to the takeoff point or alternate landing point. Station B receives telemetry feedback such as the control station being valid and the current remote control signal source information with the control station number. At this time, Station B has control of the UAV, and the remote control signal source is Station B-chain.

[0033] Furthermore, in step six, the process is as follows:

[0034] Step 1. Station A uploads the notification information for preparing to implement the uplink silence notification of Station A's A-chain; the UAV receives the notification information for preparing to implement the uplink silence notification of Station A's A-chain and downloads the notification information; Station B receives the notification information for preparing to implement the uplink silence notification of Station A's A-chain and prepares to implement the next step;

[0035] Step 2. Bilibili uploads the notification of agreement to implement the Chain A uplink silent notification; the UAV receives the notification of agreement to implement the Chain A uplink silent notification and downloads the notification; A station receives the notification of agreement to implement the Chain A uplink silent notification and provides feedback.

[0036] Step 3. Station A uploads the "Station A's Link Uplink is Silent" notification information, and then immediately sets its own Link Uplink to silent; the UAV receives the "Station A's Link Uplink is Silent" notification information and downloads the notification information; Station B receives the "Station A's Link Uplink is Silent" notification information, sets Station B's Link Uplink to active, and enters the dedicated control channel at high power.

[0037] Step 4. The UAV establishes a connection with Bilibili's Link A and uploads this status; Bilibili receives the telemetry feedback that Link A has resumed uplink and uploads a notification that the connection between Bilibili and Link A has been established; the UAV receives the notification that the connection between Bilibili and Link A has been established and downloads the notification; Station A receives the notification that the connection between Bilibili and Link A has been established and continues to monitor the telemetry data.

[0038] Furthermore, in step seven, the process is as follows:

[0039] Step 1. Station B sends a command to switch the remote control signal source, and the UAV switches the remote control signal source to Station B's Link A; the UAV checks whether the control station number in the remote control signal source information is valid: if valid, it responds to the remote control command normally and transmits the remote control signal source information; if it is an illegal control station, it does not respond to the remote control command and triggers a return to the takeoff point or alternate landing point; Station A keeps monitoring the telemetry data.

[0040] Step 2. Station B sends a command to complete the control handover; after receiving the command, the UAV exits the control handover procedure and transmits this status; Station A receives feedback from the UAV that it has exited the control handover procedure and maintains monitoring and telemetry data.

[0041] Step 3. Station B switches its dual data link channel and downlink rate with the UAV to the normal flight channel and rate; Station A's telemetry is interrupted and monitoring is exited. At this time, Station B enters single-station remote control and telemetry mode;

[0042] Step 4. Complete the control handover procedure, and the drone will fly according to the remote control instructions from Bilibili.

[0043] In summary, the beneficial effects of the present invention are as follows:

[0044] 1. A method for two-station collaborative control and control handover applicable to unmanned aerial vehicles equipped with dual data links is proposed;

[0045] 2. The proposed method enables seamless one-click switching of control, and there is no control gap caused by data link interruption and reconnection. It is highly secure, very simple to operate, and the collaborative control of the unmanned aerial vehicle by the two stations is very convenient.

[0046] 3. A notification information function was proposed, which enabled convenient information exchange between the two stations and greatly improved security;

[0047] 4. The method is applicable to point-to-point data links, requiring no additional hardware, only the flight control and measurement software needs to be adapted accordingly, which will not increase the system cost;

[0048] 5. Effective risk identification was conducted on the two-station collaborative control and control handover method for unmanned aerial vehicles (UAVs), and corresponding risk mitigation measures were proposed, thereby improving the operational safety of UAVs. The control handover method of this invention can promote the application and development of UAVs in related fields. Attached Figure Description

[0049] Figure 1 Schematic diagrams for single-station remote control and telemetry mode, one-station remote control and telemetry mode, one-station telemetry-only mode, and two-station-one-machine collaborative control mode.

[0050] Figure 2 A schematic diagram illustrating the two-station collaborative control and control handover process for an unmanned aerial vehicle;

[0051] Figure 3 This is a schematic diagram of the uplink data composition of an unmanned aerial vehicle (UAV) data link. Detailed Implementation

[0052] The steps are as follows:

[0053] Step 1. Power on the entire UAV, power on Link A and Link B at Station A, and after the UAV establishes a data link connection with Control Station A, it transmits the current remote control signal source information (control station number and link number); after Station A establishes a data link connection with the UAV, it switches the remote control signal source to Link A at Station A; both links at Station B are powered off and remain in standby mode. At this point, the system enters single-station remote control and telemetry mode (Station A).

[0054] Step 2. Control station A controls the UAV to fly to the designated area according to the normal procedure. The UAV flies to the designated area for collaborative control or control switching according to the remote control command. Then, it maintains a hovering or low-to-medium speed straight flight state. Control station B powers on both links and immediately sets the uplink of both links A and B to silent state, sets the downlink working channel to the dedicated channel for control switching, and sets the downlink rate to the agreed rate, and waits for telemetry data.

[0055] Step 3. Control station A sets the dual-link uplink and downlink channels to the dedicated channel for control handover, sets the downlink rate to the agreed rate, and ensures both are operating at high power. It then uploads a notification message indicating preparation for control handover. Upon receiving the command and notification, the UAV enters the dedicated control handover channel for both its uplink and downlink, sets the downlink rate to the specified rate, and maintains high power for both uplink and downlink. It also transmits the notification message. At this point, control station B receives the telemetry data and notification message, prepares, and continues monitoring the telemetry data. The system then enters a one-station remote control / telemetry / one-station telemetry-only mode (station A remotely controls and telemetry, station B only telemetry).

[0056] Step 4. Control station A confirms that the external control box enable signal of station A is in the off state and uploads the external control box status confirmation notification information; the UAV receives the notification information and transmits it down; Control station B sets the control values ​​of each channel of its external control box to be consistent with the transmitted external control box control values ​​and turns off the external control box enable signal.

[0057] Step 5. Control station A sends a command to start the control handover procedure and a notification that the control handover procedure has been started. After receiving the command and notification, the UAV starts the control handover procedure and transmits the status and notification information. Control station B receives the telemetry feedback from the UAV and enters the control handover implementation procedure.

[0058] Step 6. Control station A receives telemetry feedback from the UAV, sets uplink B to silent, and uploads a notification message that uplink B is silent at station A; the UAV determines that B is interrupted, receives the notification message, and downloads the B status and notification message downlink; control station B receives the B interruption status and notification message, sets uplink B at station B to active, and enters the dedicated control channel at high power.

[0059] Step 7. The UAV establishes a connection with B-site's B-link, B-site's B-link uplink is restored, and the B-link status is transmitted; B control station receives the telemetry feedback of B-link uplink restoration and uploads a notification that B-site's B-link connection has been established; the UAV receives the notification and transmits it downlink; A control station receives the telemetry feedback of B-site's B-link uplink restoration and the notification that B-site's B-link connection has been established. At this point, the two-station-one-UAV collaborative control mode is entered.

[0060] Step 8. Control station A uploads a notification message indicating preparation for switching remote control signal sources and handing over control; the UAV receives the notification message and transmits it; control station B receives the notification message and prepares to take over control.

[0061] Step 9. Control station B uploads a notification message indicating agreement to switch remote control signal sources; the UAV receives the notification message and transmits it; control station A receives the notification message and then proceeds to the next step.

[0062] Step 10. Control station A sends a command to switch the remote control signal source; upon receiving the command, the UAV switches to using the B-link remote control signal source and checks whether the control station number in the remote control signal source information is valid: if valid, it responds normally to the remote control command and transmits the remote control signal source information (control station number and link number); if it is an invalid control station, it does not respond to the remote control command, transmits the illegal control station notification information, and triggers a return to the takeoff point or alternate landing point; Control station B receives telemetry feedback such as the control station being valid and the current remote control signal source information (control station number and link number). At this time, control station B has control of the UAV, and the remote control signal source is B-link of station B. (In the two-station-one-UAV collaborative control mode, control can be switched multiple times between station A and station B. After completing the task, the control must be switched back to the single-station remote control and telemetry mode. The following operation steps are the steps for switching control to control station B. The steps for switching control back to control station A are shown in the attached diagram.)

[0063] Step 11. Control station A uploads a silent notification message to prepare for implementation of the A-station uplink; the UAV receives the notification message and transmits it down; control station B receives the notification message and prepares to implement the next step.

[0064] Step 12. Control station B uploads the notification message agreeing to implement the uplink silent notification of Chain A; the UAV receives the notification message and transmits it down; control station A receives the notification message and provides feedback.

[0065] Step 13. Control station A uploads a notification that the A-link uplink is silent, and then immediately sets the A-link uplink to silent; the UAV receives the notification, determines that the A-link is interrupted, and transmits the A-link status and notification information downlink; control station B receives the notification and the A-link interruption status, sets the B-link uplink to work, and enters the dedicated control channel at high power.

[0066] Step 14. The UAV establishes a connection with Station B's Link A, Link A uplink is restored, and the Link A status is transmitted; Station B receives the telemetry feedback that Link A uplink has been restored and uploads a notification that Link A has been established; the UAV receives the notification and transmits it; Station A receives the telemetry feedback that Link A uplink has been restored and the notification that Link A has been established, and Station A continues to monitor the telemetry data. At this point, it enters the one-station remote control and telemetry, one-station telemetry-only mode (Remote control and telemetry at Station B, telemetry-only at Station A).

[0067] Step 15. Control station B sends a command to switch the remote control signal source; the UAV's remote control signal source switches to station B's chain A, and checks whether the control station number in the remote control signal source information is valid: if valid, it responds to the remote control command normally and transmits the remote control signal source information; if it is an illegal control station, it does not respond to the remote control command and triggers a return to the takeoff point or alternate landing point; control station A keeps monitoring telemetry data.

[0068] Step 16. Control station B sends a command to complete the control handover; after receiving the command, the UAV exits the control handover procedure and transmits this status; control station A receives feedback from the UAV that it has exited the control handover procedure and maintains monitoring telemetry data.

[0069] Step 17. Control station B switches the data link channels and downlink rates of Link A and Link B to the normal flight channel and rate; the UAV receives the instruction, the airborne data link enters the normal flight channel, and the downlink rate reaches the specified rate; telemetry at control station A is interrupted, and monitoring is terminated. At this time, it enters single-station remote control and telemetry mode (station B).

[0070] Step 18. Complete the control handover procedure. Control station B completes the control handover procedure and controls the UAV according to the normal procedure; the UAV flies according to the remote control commands of station B.

[0071] When using the dual data links (link A and link B) installed on the aforementioned unmanned aerial vehicle, the remote control signal source should be switched to link A at station A after the unmanned aerial vehicle is initially powered on.

[0072] The above-mentioned unmanned aerial vehicle (UAV) design has two ways to switch remote control signal sources: one is that when both links remain connected, the control station with control sends a "switch remote control signal source" command to actively change the source; the other is that when the remote control signal source link used by the UAV is interrupted, the UAV automatically switches the remote control signal source to the other link that remains connected; if both links are interrupted, a return-to-home procedure is triggered.

[0073] When the aforementioned unmanned aerial vehicle (UAV) is in the air and the remote control signal source is switched, the legality of the control station number in the new remote control signal source information will be determined. Each of the aforementioned control stations corresponds to a unique number. Before implementing a switch of control, it should be ensured that the control station numbers used are all in the UAV's stored database of legal control station numbers. The legality of the control station is not determined when the UAV is on the ground.

[0074] The uplink data from the aforementioned UAV data link consists of two parts: remote control data and notification information. Remote control data comprises the remote control commands sent by the control station to the UAV, while notification information is used for information exchange between the two stations. Notification information is a function specifically designed for information exchange between the two stations. The UAV only reads and executes the remote control commands uploaded by the control station with control authority; the UAV also reads notification information uploaded by both Link A and Link B and forwards it. In the two-station, one-UAV collaborative control mode, the two stations can exchange information by sending notification information.

[0075] In the aforementioned one-station remote control and telemetry and one-station telemetry-only mode, the control station with control authority can upload and receive notification information, while the control station that only monitors telemetry data can only receive notification information; in the two-station-one-machine collaborative control mode, both stations can upload and receive notification information.

[0076] After the aforementioned unmanned aerial vehicle enters the control handover procedure, when the dual-chain interruption triggers the return to home, it will determine whether to return to the takeoff point or the alternate landing point based on its own fuel level: if the fuel level is sufficient to return to the takeoff point, it will return to the takeoff point; otherwise, it will return to the alternate landing point. Therefore, a suitable alternate landing point must be set before the flight begins.

[0077] In the above-mentioned two-station-one-machine collaborative control mode, one station has control and the other station is in a monitoring and standby state. The control station with control can send the "switch remote control signal source" command to achieve a one-click seamless switch of control to the other station. After the control is switched, it is still in the two-station-one-machine collaborative control mode.

[0078] The above-mentioned unmanned aerial vehicle (UAV) determines the interruption of the data link as follows: if the uplink of the data link is interrupted, the UAV will determine that the link is interrupted.

[0079] The aforementioned external control box for unmanned aerial vehicles (UAVs) is for manual operation only. When using the external control box, its enable signal must be on. When the external control box's enable signal is off, the UAV will not respond to external control box commands. During control handover, the enable signals of both external control boxes must be off.

[0080] While the aforementioned method for two-station collaborative control and control handover of unmanned aerial vehicles is simple to operate and highly safe, certain risks still exist during implementation. Risk identification and mitigation measures are necessary to further improve safety. Specific risk identification and mitigation measures are as follows:

[0081] 1. Before the control switchover procedure is initiated, the remote control signal interferes with the UAV after the B control station data link is powered on. Countermeasures: After the B control station powers on both links, it should quickly set both links A and B uplinks to silent mode to avoid signal interference caused by both stations' remote control uplinks being enabled, which could affect flight safety.

[0082] 2. An anomaly occurred during the control handover process, and both control stations A and B lost connection with the UAV. The following measures were taken: Before implementing the control handover flight mission, a suitable alternate landing point was set up. If, during the control handover process, both control links A and B were interrupted for more than the prescribed time, triggering an emergency return-to-base, the UAV would determine whether to return to the takeoff point or the alternate landing point based on its fuel level: if it had sufficient fuel to return to the takeoff point, it would return to the takeoff point; otherwise, it would return to the alternate landing point. Third-party communication methods (such as wired telephones, wireless telephones, satellite phones, etc.) were used to enhance communication and feedback regarding the respective statuses.

[0083] 3. During the control switchover, if the signals of Chain A and Chain B are unstable, the following measures should be taken: Avoid performing control switchover operations when the data links are unstable as much as possible; if it is necessary to perform control switchover operations in this state, third-party communication methods (such as wired telephone, wireless telephone, satellite telephone, etc.) can be used to enhance communication and feedback on the respective statuses.

[0084] 4. Test pilot technical requirements: Control station operators should have sufficient experience in operating unmanned aerial vehicles and be familiar with the procedures for switching control.

[0085] 5. Data link requirements: The dedicated channel for control handover can only be used during the control handover process and is prohibited from use during other flight missions to avoid misjudgments that could affect flight safety.

Claims

1. A method for two-station cooperative control and control handover of a dual-datalink unmanned aerial vehicle, characterized in that: The process is as follows: Step one: the unmanned aerial vehicle is powered on and initialized, and is connected with the A station, the A station enters a single-station remote control and telemetry mode, and the B station enters a waiting state; Step two: it is judged whether the unmanned aerial vehicle enters a cooperative control or control right switching region, if yes, the flight state is adjusted, otherwise, it is maintained in step two; Step three: the B station enters a telemetry only mode; Step four: the A station B chain is disconnected with the unmanned aerial vehicle, the B station B chain is connected with the unmanned aerial vehicle, and enters a two-station one-machine cooperative control mode; Step five: the control right is switched from the A station A chain to the B station B chain; Step six: the A station enters a telemetry only mode; Step seven: the B station enters a single-station remote control and telemetry mode, the B station controls itself and the unmanned aerial vehicle to restore a normal frequency channel, and the A station exits the telemetry only mode.

2. The method of claim 1, wherein: In step one, after the unmanned aerial vehicle is connected with the A station, the current remote control signal source information is downloaded.

3. The method of claim 1, wherein: In step two, after the unmanned aerial vehicle enters the cooperative control or control right switching region, it is kept in a hovering or small speed flat flight state.

4. The method of claim 1, wherein: In step two, after the unmanned aerial vehicle enters the cooperative control or control right switching region, the B station double chain is powered on, the A and B chains uplink is set to a mute state, and the A and B chains downlink enters a switching dedicated frequency channel; the A station switches the A and B chains uplink and downlink to the switching dedicated frequency channel; meanwhile, the A station controls the unmanned aerial vehicle to enter the switching dedicated frequency channel.

5. The method of claim 1, wherein: In step three, the process is as follows: The A station uploads a control right switching preparation starting announcement information; After the unmanned aerial vehicle receives the control right switching preparation starting announcement information, it downloads; The B station receives the control right switching preparation starting announcement information, keeps monitoring the unmanned aerial vehicle, and enters a telemetry only mode.

6. The method of claim 1, wherein: In step four, the process is as follows: Step 1. The A station confirms that the A station external control box enable signal is in a closed state, and uploads an A station external control box state confirmation announcement information; The unmanned aerial vehicle receives the announcement information and downloads; the B station sets the B station external control box channel control amount to be consistent with the downloaded external control box control amount, and closes the B station external control box enable signal; Step 2. The A station sends a control right switching program starting instruction and a control right switching program starting announcement information, the unmanned aerial vehicle receives the instruction and the announcement information, starts the control right switching program, and downloads the state and the announcement information; the B station receives the telemetry feedback of the unmanned aerial vehicle, and enters a control right switching implementation program; Step 3. The A station receives the telemetry feedback of the unmanned aerial vehicle, sets the B chain uplink to be mute, uploads an A station B chain uplink mute announcement information, the unmanned aerial vehicle judges the B chain interruption, receives the announcement information, and downloads the B chain state and the announcement information; the B station receives the B chain interruption state and the announcement information, sets the B station B chain uplink to work, enters a control right dedicated frequency channel, and has a high power; Step 4. The unmanned aerial vehicle is connected with the B station B chain, and downloads the B chain state; the B station receives the telemetry feedback of the B chain uplink recovery, uploads a B station B chain connection established announcement information, the unmanned aerial vehicle receives the announcement information and downloads; the A station receives the telemetry feedback of the B station B chain uplink recovery, the B station B chain connection established announcement information; at this time, it enters a two-station one-machine cooperative control mode.

7. The method of claim 1, wherein: In step five, the process is as follows: Step 1. A station uploads a preparation switching remote control signal source handover control announcement information; The unmanned aerial vehicle receives the preparation switching remote control signal source handover control announcement information and transmits the announcement information downward; the B station receives the preparation switching remote control signal source handover control announcement information and prepares to receive the control; Step 2. The B station uploads a consent switching remote control signal source announcement information; The unmanned aerial vehicle receives the consent switching remote control signal source announcement information and transmits the announcement information downward; the A station receives the consent switching remote control signal source announcement information feedback and implements the next step; Step 3. The A station sends a switching remote control signal source instruction, and the unmanned aerial vehicle switches to use the B station B chain remote control signal source after receiving the switching remote control signal source instruction; The unmanned aerial vehicle judges whether the control station number in the remote control signal source information is legal: if it is legal, the unmanned aerial vehicle normally responds to the remote control instruction and transmits the remote control signal source information with the control station number downward; if it is an illegal control station, the unmanned aerial vehicle does not respond to the remote control instruction, transmits the control station illegal announcement information downward, and triggers the return to the take-off point or the standby landing point; the B station receives the control station legal current remote control signal source information telemetry feedback with the control station number, at this time, the B station has the control right of the unmanned aerial vehicle, and the remote control signal source is the B station B chain.

8. The method of claim 1, wherein: In step six, the process is as follows: Step 1. The A station uploads a preparation implementing A station A chain uplink silence announcement information; the unmanned aerial vehicle receives the preparation implementing A station A chain uplink silence announcement information and transmits the announcement information downward; the B station receives the preparation implementing A station A chain uplink silence announcement information and prepares to implement the next step; Step 2. The B station uploads a consent implementing A chain uplink silence announcement information; The unmanned aerial vehicle receives the consent implementing A chain uplink silence announcement information and transmits the announcement information downward; the A station receives the consent implementing A chain uplink silence announcement information feedback; Step 3. The A station uploads an A station A chain uplink silence announcement information, and then immediately sets the A station A chain uplink silence; the unmanned aerial vehicle receives the A station A chain uplink silence announcement information and transmits the announcement information downward; the B station receives the A station A chain uplink silence announcement information, sets the B station A chain uplink work, and enters the control right special frequency channel and high power; Step 4. The unmanned aerial vehicle establishes a connection with the B station A chain and transmits the state downward; the B station receives the A chain uplink recovery telemetry feedback and uploads a B station A chain connection establishment announcement information; the unmanned aerial vehicle receives the B station A chain connection establishment announcement information and transmits the announcement information downward; the A station receives the B station A chain connection establishment announcement information, and the A station keeps monitoring the telemetry data.

9. The method of claim 1, wherein: In step seven, the process is as follows: Step 1. The B station sends a switching remote control signal source instruction, and the unmanned aerial vehicle remote control signal source switches to the B station A chain; the unmanned aerial vehicle judges whether the control station number in the remote control signal source information is legal: if it is legal, the unmanned aerial vehicle normally responds to the remote control instruction and transmits the remote control signal source information downward; if it is an illegal control station, the unmanned aerial vehicle does not respond to the remote control instruction, and triggers the return to the take-off point or the standby landing point; the A station keeps monitoring the telemetry data; Step 2. The B station sends a complete control right switching instruction; the unmanned aerial vehicle exits the control right switching program after receiving the complete control right switching instruction and transmits the state downward; the A station receives the unmanned aerial vehicle exit control right switching program feedback and keeps monitoring the telemetry data; Step 3. B station switches its own double data link channel with the unmanned aerial vehicle, downlink rate to normal flight channel and rate; A station interrupts telemetry, exits monitoring; At this time, B station single station remote control telemetry mode is entered; Step 4. The control right switching procedure is completed, and the unmanned aerial vehicle flies according to the remote control instruction of B station.

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