One-station double-computer control method and system based on multiple links

Abstract

The invention provides a one-station dual-unmanned aerial vehicle control method and system based on multiple links. The method comprises the following steps: establishing a control relationship between a first control seat and a first unmanned aerial vehicle and a control relationship between a second control seat and a second unmanned aerial vehicle; determining a first measurement and control link and / or a second measurement and control link according to the communication priorities of a plurality of measurement and control links, wherein the plurality of measurement and control links comprise a main link, an auxiliary link, an emergency link and a Beidou short message emergency link; and sending a control instruction to the first unmanned aerial vehicle by using the first measurement and control link and / or the second measurement and control link through the first control seat, and sending a control instruction to the second unmanned aerial vehicle by using the first measurement and control link and / or the second measurement and control link through the second control seat. According to the invention, remote control and telemetry data transmission of two unmanned aerial vehicles can be realized through a plurality of measurement and control links, the cost is reduced, and the reliability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of communication data transmission, and in particular to a one-station dual-machine control method and system based on multi-links. Background Art

[0002] With the rise of the drone market, drones are increasingly being used in various industries. As drone applications upgrade, long-distance, uninterrupted operations are making the data systems where drones are located more and more demanding on communications.

[0003] Traditional drone control basically uses a one-station control of a single machine to achieve remote control and telemetry data transmission for a single drone. This method requires two independent ground control stations to achieve remote control and telemetry of two drones. Another method uses time-sharing to achieve one-station control of two drones, but it is impossible to achieve real-time control of two drones at the same time. There is also a single system link and parallel seat method to achieve one-station control of two drones, but when the single system link encounters a fault or is interfered with by the complex electromagnetic environment and cannot work, the control ability of the drone is lost.

[0004] Therefore, there is an urgent need for a one-station dual-machine control method and system based on multi-links to solve the above problems. Summary of the invention

[0005] The technical problem solved by the present invention is to provide a one-station dual-machine control method and system based on multi-links, which realizes one-station dual-machine control through multiple measurement and control links, reduces costs and improves reliability.

[0006] The present invention solves the technical problem by adopting the following technical solutions:

[0007] A one-station dual-machine control method based on multiple links, comprising: establishing a control relationship between a first control seat and a first unmanned aerial vehicle, and a control relationship between a second control seat and a second unmanned aerial vehicle; determining a first measurement and control link and / or a second measurement and control link according to communication priority levels of a plurality of measurement and control links, wherein the plurality of measurement and control links include a main link, a secondary link, an emergency link, and a Beidou short message emergency link; sending a control instruction to the first unmanned aerial vehicle by using the first measurement and control link and / or the second measurement and control link through the first control seat, and sending a control instruction to the second unmanned aerial vehicle by using the first measurement and control link and / or the second measurement and control link through the second control seat.

[0008] In a preferred embodiment of the present invention, the communication priority levels of the above-mentioned multiple measurement and control links are: main link, secondary link, emergency link, and Beidou short message emergency link.

[0009] In a preferred embodiment of the present invention, the above-mentioned first control seat and second control seat are arranged in the vehicle-mounted control station; the step of sending control instructions to the first UAV through the first control seat using the first measurement and control link and / or the second measurement and control link, and sending control instructions to the second UAV through the second control seat using the first measurement and control link and / or the second measurement and control link, includes: obtaining a first target distance between the first UAV and the vehicle-mounted control station, and a second target distance between the second UAV and the vehicle-mounted control station; when the first target distance and / or the second target distance is less than or equal to a first preset distance, the first control seat sends control instructions to the first UAV through the first measurement and control link, and the second control seat sends control instructions to the second UAV through the first measurement and control link, and the first measurement and control link is the main link.

[0010] In a preferred embodiment of the present invention, the above-mentioned steps of sending control instructions to the first UAV through the first control seat using the first measurement and control link and / or the second measurement and control link, and sending control instructions to the second UAV through the second control seat using the first measurement and control link and / or the second measurement and control link, also include: obtaining a third target distance between the first UAV and the second UAV; when the first target distance and the second target distance are greater than the first preset distance and do not exceed the second preset distance, determining whether the third target distance exceeds a threshold; if not, making the first control seat and the second control seat both send control instructions to the first UAV and the second UAV through the first measurement and control link; if so, making the first control seat send control instructions to the first UAV through the first measurement and control link, and the second control seat send control instructions to the second UAV through the second measurement and control link, and the second measurement and control link is a secondary link.

[0011] In a preferred embodiment of the present invention, the above-mentioned steps of sending control instructions to the first UAV through the first control seat using the first measurement and control link and / or the second measurement and control link, and sending control instructions to the second UAV through the second control seat using the first measurement and control link and / or the second measurement and control link, also include: when the first target distance and / or the second target distance exceeds a third preset distance, the first control seat sends control instructions to the first UAV through the second measurement and control link, and / or the second control seat sends control instructions to the second UAV through the second measurement and control link, the second measurement and control link is a Beidou short message emergency link, and the third preset distance is greater than the first preset distance.

[0012] In a preferred embodiment of the present invention, a third control seat is set in the portable control station; the one-station dual-machine control method based on multi-link also includes: the first control seat and / or the second control seat transfers the control authority of the drone to the third control seat, so that the third control seat sends control instructions to the first drone and / or the second drone through the emergency link.

[0013] In a preferred embodiment of the present invention, after the above-mentioned step of determining the first measurement and control link and / or the second measurement and control link according to the communication priority levels of multiple measurement and control links, it also includes: using the first measurement and control link to send control instructions to the first UAV through the first control seat, and the first measurement and control link is a main link; using the second measurement and control link to send control instructions to the second UAV through the third control seat, and the second measurement and control link is an emergency link.

[0014] In a preferred embodiment of the present invention, after the above-mentioned step of sending control instructions to the first UAV and the second UAV through the first control seat and the second control seat using the first measurement and control link and / or the second measurement and control link, it includes: obtaining telemetry data returned by the first UAV and the second UAV through the first measurement and control link and / or the second measurement and control link.

[0015] A one-station dual-machine control system based on multiple links comprises: a measurement and control link subsystem, a vehicle-mounted control station, a portable control station and a drone; the measurement and control link subsystem is used to complete the communication transmission between the vehicle-mounted control station and the portable control station and the drone, and the measurement and control link subsystem comprises: a main link, a secondary link, an emergency link and a Beidou short message emergency link; the vehicle-mounted control station uses the main link, the secondary link and the Beidou short message emergency link to send control instructions to the drone through a first control seat and a second control seat, and receives telemetry data sent back by the drone; the portable control station is used to move with the drone, send control instructions to the drone through the emergency link for emergency control, and receive telemetry data sent back by the drone; the drone comprises: a first drone and a second drone, which are used to execute corresponding control instructions issued by the corresponding measurement and control link and to send back telemetry data.

[0016] An electronic device comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of the above methods when executing the computer program.

[0017] The technical effect achieved by the above-mentioned technical solution of the present invention is: it can enable the ground station to control two drones through multiple measurement and control links, so as to transmit the remote control and telemetry data of two or more drones by one station, thereby reducing costs, improving reliability, enhancing efficiency and simplifying operations.

[0018] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following specifically cites a preferred embodiment and describes it in detail with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A flowchart of a one-station dual-machine control method based on multi-links shown in the present invention;

[0020] Figure 2 This is a flow chart of information flow of a vehicle-mounted control station controlling two machines according to the present invention;

[0021] Figure 3 A flowchart of information flow of a portable control station controlling two machines in one station is shown in the present invention;

[0022] Figure 4 This is an architecture diagram of a one-station dual-machine control system based on multi-links shown in the present invention;

[0023] Figure 5 The present invention shows a composition diagram of a one-station dual-machine control system based on multi-links. DETAILED DESCRIPTION

[0024] In order to further explain the technical means and effects taken by the present invention to achieve the predetermined invention purpose, the embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below are only some embodiments of the present invention, not all embodiments. 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 embodiments of the present invention. Through the description of the specific implementation methods, the technical means and effects taken by the present invention to achieve the predetermined purpose can be more deeply and specifically understood, and the attached drawings are only for reference and explanation purposes, and are not used to limit the present invention.

[0025] See also Figure 1 , Figure 1 The present invention is a flowchart of a one-station dual-machine control method based on multi-links.

[0026] like Figure 1 As shown, a one-station dual-machine control method based on multi-links according to an embodiment of the present invention includes the following steps:

[0027] S11: Establishing a control relationship between the first control seat and the first UAV, and a control relationship between the second control seat and the second UAV.

[0028] The control seats that participate in controlling the UAV are designated in the vehicle control station and configured as the first control seat and the second control seat. Then, the UAV numbers of the first control seat and the second control seat are respectively set as the first UAV number and the second UAV number through the flight control software of the vehicle control station, thereby establishing a control relationship between the first control seat and the first UAV, and establishing a control relationship between the second control seat and the second UAV.

[0029] Among them, one control seat is only used to control one drone; when controlling two drones, two control seats are required; when controlling more than two drones, more than two control seats can also be set to achieve control of more than two drones. The first drone and the second drone can be the same drone or different drones. The first control seat and the second control seat can be set to one or more.

[0030] Exemplarily, the drones controlled by the first control seat and the second control seat are both numbered through the flight control software in the vehicle control station, such as drone numbers A and B. Drone number A is set for the first control seat on the flight control software so that the first control seat can control drone A; drone number B is set for the second control seat so that the second control seat can control drone B.

[0031] Specifically, after the first and second control seats set the drone numbers to the corresponding drone numbers in the flight control software, they can send and receive remote control / control instructions and telemetry data through the measurement and control link. The distribution and reception of data are identified by the drone number frame header and then distributed to the corresponding drone or control seat.

[0032] The first and second control seats and flight control software are all arranged in the vehicle-mounted control station, so that the first and second control seats can realize the transmission of control instructions or remote control telemetry data of the two UAVs through various measurement and control links.

[0033] S12: Determine a first measurement and control link and / or a second measurement and control link according to communication priority levels of multiple measurement and control links, where the multiple measurement and control links include a main link, a secondary link, an emergency link, and a Beidou short message emergency link.

[0034] Specifically, multiple measurement and control links are preset for the control of the drone, and the communication priority levels of the multiple measurement and control links are configured. Then, the number of measurement and control links required to control the drone is confirmed. When the two drones cannot be controlled through one measurement and control link (i.e., the first measurement and control link), the second measurement and control link (i.e., the second measurement and control link) is obtained according to the communication priority level, so that the two drones are controlled through two different measurement and control links. Among them, the measurement and control links include: main link, secondary link, emergency link and Beidou short message emergency link.

[0035] In another embodiment, the first measurement and control link for controlling the first UAV and the second measurement and control link for controlling the second UAV can also be confirmed according to the communication priority level. The first measurement and control link is an exclusive measurement and control link for the first UAV, and the second measurement and control link is an exclusive measurement and control link for the second UAV. It should be noted that the first measurement and control link and the second measurement and control link can use the same link, such as the first measurement and control link and the second measurement and control link both use the main link or the emergency link or the Beidou short message emergency link, etc.

[0036] It should be noted that the first measurement and control link and the second measurement and control link may be the same or different in different implementations.

[0037] Optionally, the communication priorities of the measurement and control links are: main link-secondary link-emergency link-Beidou short message emergency link.

[0038] In some embodiments, the priority of the emergency link may be the same as that of the secondary link, or may be higher than that of the secondary link. For example, when the primary link cannot control the drone, the drone can be controlled through the secondary link or the emergency link, and the priorities of the two may be the same.

[0039] Each measurement and control link has the following functions:

[0040] Main link: used to complete the remote control and telemetry data between the vehicle-mounted control station and the UAV (to control the flight of the UAV), the mission payload remote control and telemetry data (to control the UAV to perform the mission), the UAV payload camera video data (data collected by the UAV) and the main link link control and link measurement data, and has the functions of ranging and angle measurement.

[0041] Auxiliary link: forms a hot backup with the main link, transmits UAV remote control telemetry data, mission payload remote control data, link control data and service voice, and has ranging function.

[0042] Emergency link: It can maneuver with the UAV, perform emergency control on the UAV or replace the main and secondary links to control the UAV in scenarios such as maintenance and practical operations, and transmit UAV remote control telemetry data, service voice data and link control and measurement data.

[0043] Beidou short message emergency link: Emergency control of UAVs is carried out through Beidou short messages to realize air-to-ground transmission of important parameters and emergency commands of UAVs. It is mainly used to support emergency positioning and command control of UAVs when the main, secondary and emergency links are all interrupted / unavailable.

[0044] S13: Send control instructions to the first UAV through the first control seat using the first measurement and control link and / or the second measurement and control link, and send control instructions to the second UAV through the second control seat using the first measurement and control link and / or the second measurement and control link.

[0045] Specifically, the first control seat sends a control instruction to the first UAV based on the first measurement and control link to control the first UAV in real time; the second control seat sends a control instruction to the second UAV based on the first measurement and control link to control the second UAV in real time. The first control seat sends a control instruction to the first UAV based on the first measurement and control link to control the first UAV in real time; the second control seat sends a control instruction to the second UAV based on the second measurement and control link to control the second UAV in real time.

[0046] The first measurement and control link and the second measurement and control link may be the same link. One control seat is only used to control one UAV at the same time.

[0047] Optionally, the first control seat and the second control seat are arranged in the vehicle-mounted control station; the step of sending control instructions to the first UAV through the first control seat using the first measurement and control link and / or the second measurement and control link, and sending control instructions to the second UAV through the second control seat using the first measurement and control link and / or the second measurement and control link, includes: obtaining a first target distance between the first UAV and the vehicle-mounted control station, and a second target distance between the second UAV and the vehicle-mounted control station; when the first target distance and / or the second target distance is less than or equal to a first preset distance, enabling the first control seat to send control instructions to the first UAV through the first measurement and control link, and the second control seat to send control instructions to the second UAV through the first measurement and control link, and the first measurement and control link is a main link.

[0048] Specifically, since the communication priority levels of the measurement and control links are: main link - secondary link - emergency link - Beidou short message emergency link, it is necessary to determine in sequence whether the drone can be controlled using the corresponding link.

[0049] The first target distance and the second target distance between the first UAV and the second UAV and the vehicle-mounted control station can be obtained through the main link or the secondary link, etc., and are not limited here. It should be noted that when the main link or the secondary link cannot obtain the first target distance and the second target distance (that is, it exceeds the maximum control distance of the main link), it indicates that the communication of the main link or the secondary link is interrupted. At this time, the UAV cannot be controlled through the main link or the secondary link, and other measurement and control links are required to perform emergency control on the UAV.

[0050] The main link controls two machines at one station:

[0051] The main link ground equipment adopts an omnidirectional antenna compatible mode (including omnidirectional antennas and directional antennas), and uses an omnidirectional antenna to control the UAV in the near field (i.e., with the vehicle-mounted control station as the origin and a radius of the first preset distance; the first preset distance is the same as the limit distance for the omnidirectional antenna of the main link to send control instructions to the UAV, or the optimal communication distance that does not affect the communication quality, such as 50km) and receive the telemetry data sent back by the UAV. In the far field (i.e., with the vehicle-mounted control station as the origin, the radius exceeds the first preset distance, but does not exceed the limit control distance of the directional antenna of the main link or the optimal communication distance that does not affect the communication quality (for example, 150km)), a directional antenna is used to track and control the UAV and receive the telemetry data sent back by the UAV.

[0052] In the near field, since omnidirectional antennas are used to communicate with drones, one station controlling two drones is not limited by the antenna beam angle.

[0053] Specifically, when the first target distance and / or the second target distance is less than or equal to the first preset distance, only one measurement and control link is needed to control the two drones. When the first target distance and / or the second target distance is less than or equal to the first preset distance, two measurement and control links may be needed to control the two drones.

[0054] For example, when flying in the far field, the two drones need to be within the beam angle range of the directional antenna. For example, the beam angle of the directional antenna of the main link is 3.5°. When the distance between the drone and the vehicle control station is 120km, the distance between the two drones should be less than 7km, so that the two drones can be within the beam angle range of the directional antenna at the same time, so as to realize the control of the two drones through the same measurement and control link.

[0055] The third target distance will change with the beam angle range of the directional antenna and the distance between the drone and the vehicle control station. Generally speaking, the closer the distance between the drone and the vehicle control station, the smaller the distance between the two drones needs to be to ensure that the main link can be used to control the two drones at the same time.

[0056] For example, if two UAVs fly to the far field during the execution of a mission and the distance between them is too far, so that the beam angle range of the directional antenna of the main link cannot cover the two UAVs at the same time, and ultimately the main link cannot measure and control them simultaneously, the uncontrolled UAV can be temporarily controlled through the secondary link or the portable control station using the emergency link.

[0057] It should be noted that when one drone is in the near field and one drone is in the far field, both drones can still be controlled through the main link. At this time, there is no need to determine whether the two drones are within the beam angle range of the directional antenna. The near-field drone is controlled through the main link omnidirectional antenna, and the far-field drone is controlled through the main link directional antenna.

[0058] Among them, the main link adopts the FDD-TDMA working mode, in which the uplink adopts the broadcast mode and the downlink adopts the time division multiple access mode. The uplink working frequency is f1, and the downlink working frequency is f2. The main link time and frequency planning: the vehicle control station (main and second control seats) uses the main link to use the uplink working frequency of f1 to broadcast and send control instructions and other data to the first UAV and the second UAV at the same time; the first UAV uses the downlink working frequency of f2 to send telemetry data to the first control seat at time t1 through the main link; the second UAV uses the downlink working frequency of f2 to send telemetry data to the second control seat at time t2 through the main link.

[0059] Optionally, the step of sending control instructions to the first UAV through the first control seat using the first measurement and control link and / or the second measurement and control link, and sending control instructions to the second UAV through the second control seat using the first measurement and control link and / or the second measurement and control link, also includes: obtaining a third target distance between the first UAV and the second UAV; when the first target distance and the second target distance are greater than the first preset distance and do not exceed the second preset distance, determining whether the third target distance exceeds a threshold; if not, allowing the first control seat and the second control seat to send control instructions to the first UAV and the second UAV through the first measurement and control link; if yes, allowing the first control seat to send control instructions to the first UAV through the first measurement and control link, and the second control seat to send control instructions to the second UAV through the second measurement and control link, and the second measurement and control link is a secondary link.

[0060] The second preset distance is the limit control distance of the omnidirectional antenna used by the secondary link, or the best communication distance that does not affect the communication quality. The second preset distance may exceed the limit control distance or the best communication distance of the directional antenna of the primary link, but it may also be less than it, and there is no restriction on this.

[0061] When the first target distance and the second target distance are greater than the first preset distance and do not exceed the second preset distance, but the third target distance exceeds the threshold value, the first UAV and the second UAV cannot be controlled through the main link. The threshold value can be set according to the specific situation.

[0062] Specifically, after the first target distance and the second target distance between the first UAV and the second UAV and the vehicle-mounted control station both exceed the first preset distance, the third target distance between the first UAV and the second UAV is used to confirm whether the two UAVs are simultaneously within the beam angle range of the main link directional antenna, thereby determining whether the main link can control the first UAV and the second UAV at the same time.

[0063] In the case where it is impossible to simultaneously measure and control the drones through the main link, the uncontrolled drones can be temporarily controlled through the secondary link based on the communication priority of the measurement and control link. For example, if the first drone is uncontrolled, the first drone is controlled by the first control seat using the secondary link; if the second drone is uncontrolled, the second drone is controlled by the second control seat using the secondary link; if both the first and second drones cannot be controlled using the main link, then both the first and second control seats control the corresponding drones through the secondary link.

[0064] In other embodiments, after confirming that the first UAV and the second UAV cannot be controlled simultaneously through the main link, it can be determined whether the first UAV and the second UAV can be controlled simultaneously using the secondary link; if so, both the first control seat and the second control seat are switched to the secondary link.

[0065] Secondary link: one station controls two machines:

[0066] The secondary link uses a high-gain omnidirectional antenna on the ground. In the one-station-controlled dual-machine mode, it is not constrained by the antenna beam angle. For example, two drones can be controlled in real time within a range of 100 or 200km.

[0067] The secondary link adopts TDD-TDMA multiple access mode. The first UAV, the second UAV and the secondary link ground terminal act as working nodes in TDMA mode, sharing the same communication channel in different time slots to send control commands and telemetry data.

[0068] Exemplarily, the secondary link ground terminal is the central node of the first UAV and the second UAV. At time slot 1, the secondary link ground terminal sends control instructions, etc. to the first UAV and the second UAV in the form of broadcast. The first UAV receives the time slot result demodulated by the secondary link ground terminal, and sends downlink telemetry data to the secondary link ground terminal at time slot 2; the second UAV receives the time slot result demodulated by the secondary link ground terminal, and sends downlink telemetry data to the secondary link ground terminal at time slot 3.

[0069] Optionally, the step of sending control instructions to the first UAV through the first control seat using the first measurement and control link and / or the second measurement and control link, and sending control instructions to the second UAV through the second control seat using the first measurement and control link and / or the second measurement and control link, also includes: when the first target distance and / or the second target distance exceeds a third preset distance, the first control seat sends control instructions to the first UAV through the second measurement and control link, and / or the second control seat sends control instructions to the second UAV through the second measurement and control link, the second measurement and control link is a Beidou short message emergency link, and the third preset distance is greater than the first preset distance.

[0070] The third preset distance may be the second preset distance, or the limit control distance or the best communication distance of the main link directional antenna. It should be noted that the third preset distance needs to be greater than or equal to the limit control distance or the best communication distance of the main link directional antenna and the secondary link omnidirectional antenna. When the first target distance and the second target distance exceed the third distance, it indicates that all drones cannot be controlled through the main and secondary links at this time.

[0071] Specifically, when the first target distance exceeds the third preset distance, the first control seat sends a control instruction to the first UAV through the second measurement and control link (i.e., Beidou short message emergency link), and the second control seat still uses the first measurement and control link (i.e., main link) to send control instructions to the second UAV. When the second target distance exceeds the third preset distance, the second control seat sends a control instruction to the second UAV through the second measurement and control link (i.e., Beidou short message emergency link), and the first control seat still uses the first measurement and control link (i.e., main link) to send control instructions to the first UAV. When both the first target distance and the second target distance exceed the third preset distance, the first control seat and the second control seat both send control instructions through the second measurement and control link (i.e., Beidou short message emergency link).

[0072] Beidou short message emergency link one station controls two machines:

[0073] The Beidou command machine configured in the vehicle control station communicates with the Beidou short message terminal on the drone through Beidou short messages. Among them, Beidou short messages send emergency control commands once every 60 seconds and receive basic telemetry data of the drone once, thereby realizing emergency control of the two drones.

[0074] See also Figure 2 ,like Figure 2 As shown:

[0075] Command and control seats 1 and 2 (i.e. the first and second control seats) issue remote control commands, and send remote control commands to the drone through flight control software, ground measurement and control links (such as the main and secondary links, and the Beidou short message emergency link is generally only used when the main, secondary and emergency links are unavailable) and the onboard measurement and control link on the drone. The drone executes the corresponding measurement and control link to issue corresponding flight control commands and return telemetry data. The vehicle-mounted station payload software is generally used to send tasks to the drone.

[0076] Optionally, a third control seat is set in the portable control station; the one-station dual-machine control method based on multi-link also includes: transferring the control authority of the first control seat and / or the second control seat over the drone to the third control seat, so that the third control seat sends control instructions to the first drone and / or the second drone through the emergency link.

[0077] Specifically, when the first control seat and / or the second control seat transfers the control authority of the drone to the third control seat, the drone can be controlled by the third control seat of the portable control station that follows the drone. In addition, when the drone cannot be controlled through the main and secondary links, the drone can also be controlled by the third control seat of the portable control station that follows the drone.

[0078] Portable control station emergency link one battle control dual machine:

[0079] The portable control station operates a dual-machine authorization on the flight control software (a software system that performs flight control and other operations on the UAV) to confirm the numbers of one or two UAVs that can be controlled by the portable control station, and then uses the shortcut control keys on the portable control station (such as a handle remote control) to achieve emergency control of the two UAVs or one of the UAVs, receive the UAV's telemetry data, and monitor the real-time status of the UAV.

[0080] Exemplarily, the communication distance of the emergency link used by the portable control station is 50km (which may vary according to specific circumstances). It adopts an omnidirectional antenna architecture, so within the 50km communication distance, the emergency link one-station-controlling-dual-machine mode is not limited by the antenna beam angle.

[0081] The emergency link adopts TDD-FDMA multiple access mode. The first UAV, the second UAV and the portable station act as working nodes in TDMA mode, sending control instructions and telemetry data in different time slots and different communication channels. The portable control station selects to control one of the two UAVs through different frequencies f1 and f2.

[0082] Exemplarily, the portable control station is the central node of the first UAV and the second UAV. At time slot 1, the portable control station sends the control command to the first UAV and the second UAV in the form of broadcast; when the transmission frequency of the portable control station is f1, the first UAV receives the time slot result demodulated by the ground station, and sends downlink telemetry data to the ground station at time slot 2; when the transmission frequency of the portable control station is f2, the second UAV receives the time slot result demodulated by the ground station, and sends downlink telemetry data to the ground station at time slot 2. Among them, the portable station and the vehicle-mounted station perform control handover through handover instructions.

[0083] like Figure 3 As shown: the remote control command issued by the portable station (i.e., the portable control station) is sent to the drone through its own emergency flight control software, ground emergency link, and drone emergency link. The drone executes the corresponding measurement and control link to issue corresponding flight control commands and return telemetry data.

[0084] Optionally, after the step of determining the first measurement and control link and / or the second measurement and control link according to the communication priority levels of multiple measurement and control links, it also includes: using the first measurement and control link to send control instructions to the first UAV through the first control seat, and the first measurement and control link is a main link; using the second measurement and control link to send control instructions to the second UAV through the third control seat, and the second measurement and control link is an emergency link.

[0085] At this time, the main link cannot control two drones at the same time, and the uncontrolled drone cannot be controlled through the secondary link.

[0086] Optionally, after the step of sending control instructions to the first UAV and the second UAV through the first control seat and the second control seat using the first measurement and control link and / or the second measurement and control link, it includes: obtaining telemetry data returned by the first UAV and the second UAV through the first measurement and control link and / or the second measurement and control link.

[0087] Specifically, after the drone performs corresponding operations and collects corresponding telemetry data based on the control instructions and task information sent by the first control seat and the second control seat, the drone transmits the telemetry data back to the first control seat and the second control seat.

[0088] The multi-link-based one-station dual-machine control method of the present invention can realize the transmission of remote control and telemetry data of two UAVs in different scenarios and in multiple ways through multiple links, thereby reducing costs, improving reliability, enhancing efficiency, and simplifying operations.

[0089] See also Figure 4 and Figure 5 , Figure 4The present invention shows an architecture diagram of a one-station dual-machine control system based on multi-links. Figure 5 The present invention shows a composition diagram of a one-station dual-machine control system based on multi-links.

[0090] The present invention also provides a one-station dual-machine control system based on multi-links. The one-station dual-machine control system based on multi-links consists of a measurement and control link subsystem, a vehicle-mounted ground control station (hereinafter referred to as the vehicle-mounted control station), a portable ground control station (hereinafter referred to as the portable control station) and a drone.

[0091] Among them, the vehicle-mounted control station is equipped with main link, secondary link, Beidou short message emergency link, command and control seat, link control seat and payload control seat, flight control software, etc. The portable control station is equipped with emergency link equipment and emergency flight control software.

[0092] like Figure 4 and Figure 5 As shown, a one-station dual-machine control system based on multi-links includes: a measurement and control link subsystem, a vehicle-mounted control station, a portable control station and a UAV; the measurement and control link subsystem is used to complete the communication transmission between the vehicle-mounted control station and the portable control station and the UAV, and the measurement and control link subsystem includes: a main link, a secondary link, an emergency link and a Beidou short message emergency link; the vehicle-mounted control station uses the main link, the secondary link and the Beidou short message emergency link to send control instructions to the UAV through the first control seat and the second control seat, and receives the telemetry data sent back by the UAV; the portable control station is used to move with the UAV, and send control instructions to the UAV through the emergency link for emergency control, and receive the telemetry data sent back by the UAV; the UAV includes: a first UAV and a second UAV, which are used to execute the corresponding control instructions issued by the corresponding measurement and control link and return telemetry data.

[0093] The main link is used to transmit control instructions and telemetry data between the vehicle-mounted control station and multiple drones, and has distance measurement and angle measurement functions.

[0094] The secondary link is used to form a hot backup with the main link, transmit control instructions and telemetry data between the vehicle-mounted control station and multiple drones, and has a ranging function.

[0095] The emergency link is used to perform emergency control on the multiple drones, or to replace the main link and the auxiliary link to control the multiple drones, and to transmit control instructions and telemetry data between the portable control station and the multiple drones.

[0096] The Beidou short message emergency link is used to transmit control instructions and telemetry data between the vehicle-mounted control station and multiple drones through Beidou short messages, ensuring emergency positioning and control of the multiple drones when other links are unavailable.

[0097] At the vehicle-mounted control station, through the main link, secondary link and Beidou short message emergency link, one station controls two machines and realizes the transmission of remote control and telemetry data.

[0098] At the portable control station, the transmission of remote control and telemetry data is achieved through the emergency link.

[0099] The one-station dual-machine control system based on multi-links provided by the present invention can be used to execute any step of the one-station dual-machine control method based on multi-links.

[0100] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a portion of the steps in the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0101] Through the description of the above implementation methods, those skilled in the art can clearly understand that the embodiments of the present invention can be implemented by hardware, or by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the embodiments of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each implementation scenario of the embodiments of the present invention.

[0102] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the specific details in the above embodiments. The above embodiments and drawings are exemplary. The modules or processes in the drawings are not necessarily required to implement the embodiments of the present invention and cannot be understood as limitations on the present invention. Within the technical concept of the present invention, the technical scheme of the present invention can be subjected to a variety of simple modifications and combinations, and these simple modifications and combinations all belong to the protection scope of the present invention.

Claims

1. A one-station dual-machine control method based on multi-link, characterized in that: include: Establishing a control relationship between the first control seat and the first UAV, and a control relationship between the second control seat and the second UAV; Determine a first measurement and control link and / or a second measurement and control link according to communication priority levels of multiple measurement and control links, wherein the multiple measurement and control links include a main link, a secondary link, an emergency link, and a Beidou short message emergency link; The first control seat uses the first measurement and control link and / or the second measurement and control link to send control instructions to the first UAV, and the second control seat uses the first measurement and control link and / or the second measurement and control link to send control instructions to the second UAV.

2. The one-station dual-machine control method based on multi-link according to claim 1, characterized in that: The communication priorities of the multiple measurement and control links are: main link, secondary link, emergency link, and Beidou short message emergency link.

3. The one-station dual-machine control method based on multi-link according to claim 2, characterized in that: The first control seat and the second control seat are arranged in the vehicle-mounted control station; The step of sending a control instruction to the first UAV by using the first measurement and control link and / or the second measurement and control link through the first control seat, and sending a control instruction to the second UAV by using the first measurement and control link and / or the second measurement and control link through the second control seat includes: Acquire a first target distance between the first UAV and the vehicle-mounted control station, and a second target distance between the second UAV and the vehicle-mounted control station; When the first target distance and / or the second target distance is less than or equal to the first preset distance, the first control seat sends a control instruction to the first UAV through the first measurement and control link, and the second control seat sends a control instruction to the second UAV through the first measurement and control link, and the first measurement and control link is a main link.

4. The one-station dual-machine control method based on multi-link according to claim 3, characterized in that: The step of sending a control instruction to the first UAV by using the first control seat using the first measurement and control link and / or the second measurement and control link, and sending a control instruction to the second UAV by using the first measurement and control link and / or the second measurement and control link by using the second control seat, further includes: Acquire a third target distance between the first UAV and the second UAV; When the first target distance and the second target distance are greater than the first preset distance and do not exceed the second preset distance, determining whether the third target distance exceeds a threshold; If not, the first control seat and the second control seat both send control instructions to the first UAV and the second UAV through the first measurement and control link; If so, the first control seat sends control instructions to the first UAV through the first measurement and control link, and the second control seat sends control instructions to the second UAV through the second measurement and control link, and the second measurement and control link is a secondary link.

5. The one-station dual-machine control method based on multi-link as claimed in claim 3, characterized in that: The step of sending a control instruction to the first UAV by using the first control seat using the first measurement and control link and / or the second measurement and control link, and sending a control instruction to the second UAV by using the first measurement and control link and / or the second measurement and control link by using the second control seat, further includes: When the first target distance and / or the second target distance exceeds the third preset distance, the first control seat sends a control instruction to the first UAV through the second measurement and control link, and / or the second control seat sends a control instruction to the second UAV through the second measurement and control link, the second measurement and control link is a Beidou short message emergency link, and the third preset distance is greater than the first preset distance.

6. The one-station dual-machine control method based on multi-link according to claim 1, characterized in that: A third control seat is provided in the portable control station; The multi-link-based one-station dual-machine control method further includes: The control authority of the first control seat and / or the second control seat over the UAV is transferred to the third control seat, so that the third control seat sends control instructions to the first UAV and / or the second UAV through the emergency link.

7. The one-station dual-machine control method based on multi-link according to claim 6, characterized in that: After the step of determining the first measurement and control link and / or the second measurement and control link according to the communication priority levels of the multiple measurement and control links, the method further includes: Sending a control command to the first UAV by using the first control seat and the first measurement and control link, where the first measurement and control link is a main link; The control command is sent to the second UAV through the third control seat using the second measurement and control link, and the second measurement and control link is an emergency link.

8. The one-station dual-machine control method based on multi-link according to claim 1 or 7, characterized in that: After the step of sending the control instruction to the first UAV and the second UAV by using the first control seat and the second control seat using the first measurement and control link and / or the second measurement and control link, the method further includes: Acquire telemetry data transmitted back by the first UAV and the second UAV through the first measurement and control link and / or the second measurement and control link.

9. A one-station dual-machine control system based on multi-link, characterized in that: Includes: measurement and control link subsystem, vehicle-mounted control station, portable control station and UAV; The measurement and control link subsystem is used to complete the communication transmission between the vehicle-mounted control station and the portable control station and the UAV. The measurement and control link subsystem includes: a main link, a secondary link, an emergency link and a Beidou short message emergency link; The vehicle-mounted control station sends control instructions to the UAV through the first control seat and the second control seat using the main link, the secondary link and the Beidou short message emergency link, and receives the telemetry data sent back by the UAV; The portable control station is used to move with the drone, send control instructions to the drone through the emergency link for emergency control, and receive telemetry data sent back by the drone; The UAV includes: a first UAV and a second UAV, which are used to execute corresponding control instructions issued by the corresponding measurement and control link and return telemetry data.

10. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

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