Method and system for redundant communication of internal networking of formation cluster

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and discloses a method and a system for redundant communication of internal networking of a formation cluster. According to the method, for flying cluster aircrafts, a ground station communicates with the cluster aircrafts through two or more kinds of erected communication equipment; the cluster aircraft receives the communication information, adds a timestamp of a sending moment to a sent control instruction / message through an aircraft software control system, and triggers one message through two links; and the aircraft software control system transmits the triggered information back to the ground station through the communication equipment. And sending out redundant messages. According to the method, the communication stability between the ground station and the cluster aircraft and between the ground station and the cluster aircraft individuals is improved, and the problem of flight explosion caused by overlarge delay of flight-related content such as message packet loss and position information acquisition is solved to a great extent.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a method and system for redundant communication in internal networking of a formation cluster. Background Art

[0002] In the process of formation cluster flight and mission execution, there are problems such as unstable flight link communication, loss of effective data, flight status feedback, and data transmission delay, which lead to the problem that the UAVs cannot coordinate well and fly consistently when performing actual flight control and formation missions. The control instructions and effective information feedback of individual cluster aircraft are intermittent, and cannot be well controlled by the ground station. Designing a method for redundant communication in the internal network of formation clusters has become a problem that needs to be solved in the current field.

[0003] Through the above analysis, the problems and defects of the existing technology are as follows: At present, in the process of formation cluster flight, because of the reliance on single-link communication, when the single link (such as wifi) is interfered with, or the cluster flight is dispersed on the sky side and the signal station cannot be well set up, the communication between aircraft and the communication between cluster aircraft and the ground station will be unstable, data packets will be lost, control command reception will be abnormal, etc. When the cluster is controlled as a whole, unstable control increases the risk of aircraft collision and falling. When the inter-machine communication packet is lost or the delay is too large, the cluster aircraft will not be able to obtain the correct status of other aircraft, resulting in serious consequences of flying bombs. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the disclosed embodiments of the present invention provide a method and system for redundant communication in a formation cluster internal network.

[0005] The technical solution is as follows: A method for redundant communication in a formation cluster internal network, comprising:

[0006] S1, for flying cluster aircraft, the ground station communicates with the cluster aircraft by setting up two or more communication devices;

[0007] S2, the cluster aircraft receives the communication information, adds a timestamp of the time of issuance to the control instructions and messages issued through the aircraft software control system, and triggers one message through two links;

[0008] S3, the aircraft software control system transmits the triggered information back to the ground station via the communication equipment.

[0009] In step S1, the ground station sends a message via wifi tcp, and then sends the same message through the mesh self-organizing network module.

[0010] In step S2, the cluster aircraft updates the timestamp of the message after receiving it. In the received message, if the timestamp is smaller than the current time, it is determined to be a redundant message of the same message.

[0011] In step S2, if the timestamp of the message received by the cluster aircraft is greater than the current time, it is determined to be a new message and is parsed.

[0012] Another object of the present invention is to provide a formation cluster internal networking redundant communication system, the system implements the formation cluster internal networking redundant communication method, the system comprises:

[0013] Mesh self-organizing network module, used for flying cluster aircraft, the ground station communicates with the cluster aircraft by setting up two or more communication devices;

[0014] The communication information parsing module is used for cluster aircraft to receive communication information, add a timestamp of the time of issuance to the control instructions / messages issued through the aircraft software control system, and trigger one message through two links;

[0015] The information feedback module is used by the aircraft software control system to transmit the triggered information back to the ground station through communication equipment.

[0016] Furthermore, the system is mounted on a computer device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, and the processor implements the steps of the above method when executing the computer program.

[0017] Furthermore, the system is mounted on a computer-readable storage medium, and the computer-readable storage medium stores a computer program, and the computer program can implement the steps of the above method when executed by a processor.

[0018] Furthermore, the system is mounted on a server, and the server is used to provide a user input interface to implement the steps of the above method when executed on an electronic device.

[0019] Furthermore, the system is carried on formation cluster aircraft and used in cluster performances.

[0020] In combination with all the above-mentioned technical solutions, the beneficial effects of the present invention are as follows: the present invention provides a method for redundant communication in the internal networking of a formation cluster, and utilizes two methods of redundant sending, receiving and parsing of communication links to achieve stable message transmission during formation cluster flight, give priority to processing more real-time messages, achieve consistent formation collaborative flight and stable inter-machine communication functions, solve the technical problem of unstable flight caused by message packet loss during flight, greatly improve flight stability, and achieve the technical effect of coordinated and consistent cluster flight.

[0021] Compared with the prior art, the present invention sends redundant messages, improves the communication stability between the ground station and cluster aircraft, and between individual cluster aircraft, and greatly solves the problem of flight crashes caused by message packet loss, excessive delay in obtaining flight-related content such as location information, etc. Through wifi and mesh links, each drone control message is sent redundantly via dual links. When the cluster aircraft transmits messages back, it transmits its own messages simultaneously via dual links. The ground station only processes the first message received each time, and directly discards the second message without processing. When message packets are lost, only the received message packets are processed to achieve redundant processing of message communications. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings herein are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description, serve to explain the principles of the present disclosure;

[0023] Figure 1 It is a flow chart of a method for redundant communication in a formation cluster provided by an embodiment of the present invention;

[0024] Figure 2 It is a schematic diagram of a method for redundant communication in a formation cluster provided by an embodiment of the present invention;

[0025] Figure 3 It is a schematic diagram of a redundant communication system for internal networking of a formation cluster provided by an embodiment of the present invention;

[0026] In the figure: 1. Mesh self-organizing network module; 2. Communication information analysis module; 3. Information feedback module. DETAILED DESCRIPTION

[0027] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific implementation disclosed below.

[0028] The innovation of the present invention is that through the redundant sending and receiving processing of communication content, status information and control instructions during cluster control flight, reliable control of the formation cluster in the air is achieved, and the anti-interference ability of wireless communication of the drone group in the air is improved.

[0029] Embodiment 1, as Figure 1 As shown, the method for redundant communication in a formation cluster provided by an embodiment of the present invention includes:

[0030] S1, for flying cluster aircraft, the ground station communicates with the cluster aircraft by setting up two or more communication devices;

[0031] The communication protocol is sent by protobuf and mavlink dual communication protocols. WiFi uses protobuf to send and receive messages, and MESH uses mavlink to send and receive messages. The same message content is packaged through different communication protocols to give full play to the advantages of the corresponding hardware communication solution.

[0032] S2, the cluster aircraft receives the communication information, adds a timestamp of the time of issuance to the control instructions and messages issued through the aircraft software control system, and triggers one message through two links;

[0033] S3, the aircraft software control system transmits the triggered information back to the ground station via the communication equipment.

[0034] In step S1, the ground station sends a message via wifi tcp, and then sends the same message through the mesh self-organizing network module.

[0035] In step S2, the aircraft receives two types of messages, specifically: protobuf messages received through WiFi, and mavlink messages obtained through mesh; after receiving the message, the timestamp of the message is updated. In the messages received later, if the timestamp is smaller than the current time, it is considered to be a redundant message of the same message. By comparing the time size, if the timestamp of the newly received message is larger than the timestamp of the currently parsed message, it is considered to be a new message. If the timestamp is consistent with the current timestamp, or smaller, it is considered to be a redundant message and will not be processed. No processing is performed. If the timestamp of the received message is larger than the current time, it is considered to be a new message and will be parsed; the protobuf message received by the WiFi link is parsed according to the existing mature parsing interface, and the mavlink message received by the mesh is parsed according to the mavlink message.

[0036] like Figure 2 This is the principle of the method for redundant communication within a formation cluster provided by an embodiment of the present invention.

[0037] Embodiment 2, as Figure 3 As shown, the internal networking redundant communication system of the formation cluster provided by the embodiment of the present invention includes:

[0038] Mesh self-organizing network module 1, used for flying cluster aircraft, the ground station communicates with the cluster aircraft through two or more communication devices set up;

[0039] The communication information analysis module 2 is used for cluster aircraft to receive communication information, add a timestamp of the time of issuance to the control instructions / messages issued through the aircraft software control system, and trigger one message through two links.

[0040] The information feedback module 3 is used for the aircraft software control system to transmit the triggered information back to the ground station through the communication equipment.

[0041] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0042] Since the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present invention, their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0043] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated in one processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment.

[0044] An embodiment of the present invention further provides a computer device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps in any of the above-mentioned method embodiments when executing the computer program.

[0045] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0046] An embodiment of the present invention further provides an information data processing terminal, which, when implemented on an electronic device, provides a user input interface to implement the steps in the above method embodiments. The information data processing terminal is not limited to mobile phones, computers, and switches.

[0047] An embodiment of the present invention further provides a server, which is used to provide a user input interface to implement the steps in the above method embodiments when executed on an electronic device.

[0048] An embodiment of the present invention provides a computer program product. When the computer program product runs on an electronic device, the electronic device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0049] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the camera / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a disk or an optical disk.

[0050] The following data is the log record of the wifi link after receiving the data:

[0051]

[0052] The following data is the data received by the MESH link, and the parsed log records are mavlink messages:

[0053]

[0054] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with the technical field within the technical scope disclosed by the present invention and within the spirit and principles of the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for redundant communication within a formation cluster, characterized in that: The method includes: S1, for the flying cluster aircraft, the ground station communicates with the cluster aircraft by setting up two or more communication devices; S2, the cluster aircraft receives the communication information, adds a timestamp of the time of issuance to the control instructions and messages issued through the aircraft software control system, and triggers one message through two links; S3, the aircraft software control system transmits the triggered information back to the ground station via the communication equipment.

2. The method for redundant communication within a formation cluster according to claim 1, characterized in that: In step S1, the ground station sends a message via wifi tcp, and then sends the same message through the mesh self-organizing network module.

3. The method for redundant communication within a formation cluster according to claim 1, characterized in that: In step S2, the cluster aircraft updates the timestamp of the message after receiving it. In the received message, if the timestamp is smaller than the current time, it is determined to be a redundant message of the same message.

4. The method for redundant communication within a formation cluster according to claim 1, characterized in that: In step S2, if the timestamp of the message received by the cluster aircraft is greater than the current time, it is determined to be a new message and is parsed.

5. A redundant communication system for internal networking of a formation cluster, characterized in that: The system implements the method for redundant communication in the internal networking of a formation cluster as described in any one of claims 1 to 4, and the system comprises: The mesh self-organizing network module (1) is used for the ground station to communicate with the flying cluster aircraft by setting up two or more communication devices; The communication information analysis module (2) is used for the cluster aircraft to receive the communication information, add a timestamp of the time of issuance to the control instruction / message issued through the aircraft software control system, and trigger one message through two links; The information feedback module (3) is used for the aircraft software control system to transmit the triggered information back to the ground station through the communication equipment.

6. The formation cluster internal networking redundant communication system according to claim 5, characterized in that: The system is mounted on a computer device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, and the processor implements the steps of the above method when executing the computer program.

7. The formation cluster internal networking redundant communication system according to claim 5, characterized in that: The system is mounted on a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the above method can be implemented.

8. The formation cluster internal networking redundant communication system according to claim 5, characterized in that: The system is mounted on a server, and the server is used to provide a user input interface to implement the steps of the above method when it is executed on an electronic device.

9. The formation cluster internal networking redundant communication system according to claim 5, characterized in that: The system is carried on formation cluster aircraft and used in cluster performances.

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