Universal unmanned aerial vehicle data link simulation system

Abstract

The invention discloses a universal unmanned aerial vehicle data link simulation system. The system comprises a servo antenna simulation module which is used for simulating functions of a ground servo antenna and an airborne servo antenna; the link control simulation module is used for simulating switching of unmanned aerial vehicle roles and link working parameters in the unmanned aerial vehicle data link simulation system; the data link parameter simulation module is used for simulating changes of data link locking state identification, signal field intensity, angle and distance measurement and azimuth error voltage of the unmanned aerial vehicle data link simulation system along with movement of the unmanned aerial vehicle; the measurement and control information transmission module is used for simulating data transmission functions of the ADT and the GDT; and the node management plug-in is used for integrating and calling the plug-in corresponding to each module and the plug-in of the node management plug-in. The technical problem that the system can only be used for a single-model unmanned aerial vehicle simulation system is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle data links, and in particular to a universal unmanned aerial vehicle data link simulation system. Background Art

[0002] The UAV data link is an important part of the UAV system. It is responsible for the transmission of remote control, telemetry, video and other data between the UAV and the ground control station. The performance of the data link directly affects the effective communication distance, data transmission quality and reliability of mission execution of the UAV. The data link is mainly divided into uplink and downlink. The uplink is used for the ground control station to send remote control commands to the UAV, and the downlink is used for the UAV to send telemetry, payload, video and other data to the ground control station.

[0003] The role of UAV data link is indispensable in the development and use of UAV systems, but the cost of building a complete set of UAV data link is extremely high. Summarizing the current development of UAV data link simulation system, there is a situation where the development of a model of UAV requires the development of a corresponding data link simulation system, which leads to repeated design, poor versatility, and waste of R&D resources. Therefore, designing a universal UAV data link simulation system has extremely high economic value.

[0004] The prior art discloses a universal UAV data link simulation system, and proposes a universal data link simulation system suitable for different types of UAVs, with the intention that users can make minor modifications to the system to adapt to different types of UAVs without changing the system architecture. However, the invention is divided into an airborne equipment simulation device, a flight control computer and a UAV data link simulation system. The entire system is composed of multiple hardware devices, and the hardware development cost is high and has high requirements for the use environment. Summary of the invention

[0005] The embodiment of the present invention provides a universal UAV data link simulation system to at least solve the technical problem that the simulation system can only be used for a single type of UAV.

[0006] According to one aspect of an embodiment of the present invention, a universal UAV data link simulation system is provided. The system may include: a servo antenna simulation module for simulating the functions of ground and airborne servo antennas; a link control simulation module for simulating the switching of UAV roles and link working parameters in the UAV data link simulation system; a data link parameter simulation module for simulating the changes in the data link lock state recognition, signal field strength, angle measurement, ranging and azimuth error voltage of the UAV data link simulation system as the UAV moves; a measurement and control information transmission module for simulating the data transmission functions of ADT and GDT; and a node management plug-in for integrating and calling the corresponding plug-ins of each module and its own plug-in.

[0007] Optionally, the servo antenna simulation module includes a ground servo simulation plug-in and an airborne servo simulation plug-in; the ground servo simulation plug-in is used to simulate the azimuth search, azimuth manual, azimuth digital guidance, azimuth tracking, high and low manual, and high and low digital guidance functions of the ground terminal antenna; the airborne servo simulation plug-in is used to simulate the azimuth search, azimuth manual, and azimuth digital guidance functions of the drone airborne antenna.

[0008] Optionally, the link control simulation module includes a link control simulation plug-in; the link control simulation plug-in is used to simulate the working mode, channel switching, working status and bandwidth control functions of the data link.

[0009] Optionally, the data link parameter simulation module includes: a signal field strength calculation plug-in, a link lock judgment plug-in, an angle measurement and ranging calculation plug-in and an azimuth error voltage calculation plug-in; a signal field strength calculation plug-in, used to calculate the signal field strength of the data link link; a link lock judgment plug-in, used to simulate the locked state or unlocked state of the data link link; an angle measurement and ranging calculation plug-in, used to calculate the angle and distance between the GDT and the ADT; an azimuth error voltage calculation plug-in, used to calculate the azimuth error voltage of the data link link.

[0010] Optionally, the measurement and control information transmission module includes a measurement and control information transmission plug-in; the measurement and control information transmission plug-in is used to receive telemetry data from the UAV and remote control data and link control data from the ground control station, and transmit link measurement data from the ADT class, link measurement data, telemetry data, remote control data and link control data from the GDT class.

[0011] Optionally, the node management plug-in includes: a GDT class and an ADT class, a node management class of a node management plug-in; a GDT class, used to call a ground servo simulation plug-in, a link control simulation plug-in, a signal field strength calculation plug-in, an angle measurement and ranging calculation plug-in, and an azimuth error voltage calculation plug-in; an ADT class, used to call an airborne servo simulation plug-in, a link control simulation plug-in, a signal field strength calculation plug-in, an angle measurement and ranging calculation plug-in, and an azimuth error voltage calculation plug-in; a node management class, used to mobilize the GDT class, the ADT class, and the link lock judgment plug-in.

[0012] According to one aspect of an embodiment of the present invention, a method for using a universal unmanned aerial vehicle data link simulation system is provided, wherein the method may include: when starting the unmanned aerial vehicle data link simulation system, obtaining the initialization state values ​​of ADT and GDT, the node management plug-in mobilizes the measurement and control information transmission plug-in and the node management class, the initialization state value of ADT is the position data and working state parameters of the unmanned aerial vehicle, and the initialization state value of GDT is the position data and working state parameters of the ground terminal; the node management class mobilizes the GDT class, the ADT class and the link lock judgment plug-in; the GDT class mobilizes the ground servo simulation plug-in, the link control simulation plug-in, the signal field strength calculation plug-in, the angle measurement and distance measurement calculation plug-in and the azimuth error voltage calculation plug-in; the ADT class calls the airborne servo simulation plug-in, the link control simulation plug-in, the signal field strength calculation plug-in, the angle measurement and distance measurement calculation plug-in and the azimuth error voltage calculation plug-in; the initialization state value of the airborne data terminal and the initialization state value of the ground data terminal are input into the plug-in called by the GDT class to obtain a first group of target state values; The initialization status value of the terminal and the initialization status value of the ground data terminal are input into the plug-in called by the ADT class to obtain the second set of target status values; the link lock judgment plug-in determines whether the link between the GDT and the ADT is locked according to the first set of target status values ​​and the second set of target status values; when the link between the GDT and the ADT is locked, the link measurement data from the ADT class and the link measurement data of the GDT class are transmitted to the GCS through the measurement and control information transmission plug-in, the telemetry data is transmitted to the GCS, the remote control data is sent to the UAV simulation software, and when the link control data is the link control data for controlling the ADT, the link control data is passed to the ADT class; when the link between the GDT and the ADT is unlocked, the link measurement data of the GDT class is transmitted to the GCS through the measurement and control information transmission plug-in, the telemetry data is prohibited from being passed to the GCS, the remote control data is prohibited from being sent to the UAV simulation software, and when the link control data is the link control data for controlling the ADT, the link control data is prohibited from being passed to the ADT class, and when the link control data is the link control data for controlling the GDT, the link control data is passed to the GDT class.

[0013] Beneficial effects of the present invention: The present invention proposes a universal UAV data link simulation system, which divides the system into a servo antenna simulation module, a link control simulation module, a link parameter simulation module and a measurement and control communication module according to the function, further subdivides the functions within the module to realize the design of functional plug-ins, implements the functional plug-ins based on the CPF application plug-in framework, adopts a universal remote control and telemetry protocol design, can be used for daily ground detection and simulated flight of UAVs adopting a universal interface protocol, has a wide range of applications, and also adopts a pure software conventional monolithic architecture. Compared with traditional UAV data link simulation systems, the UAV data link simulation system has the advantages of good versatility and low development cost while meeting the basic functional use conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 is a schematic diagram of a generalized UAV data link simulation system according to an embodiment of the present invention; Figure 2 is a flow chart of a method for using a universal UAV data link simulation system according to an embodiment of the present invention; Figure 3 Schematic diagram of a data link simulation system that can simulate working modes according to an embodiment of the present invention. DETAILED DESCRIPTION

[0015] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only embodiments of a part 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 should fall within the scope of protection of the present invention.

[0016] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0017] Example 1 According to an embodiment of the present invention, a generalized UAV data link simulation system is provided. It should be noted that some of the structures shown in the schematic diagrams of the accompanying drawings can be executed in a computer system comprising at least one set of computer executable instructions.

[0018] Figure 1 is a schematic diagram of a generalized UAV data link simulation system according to an embodiment of the present invention. Figure 1 As shown, the system may include: a servo antenna simulation module, a link control simulation module, a data link parameter simulation module, a measurement and control information transmission module and a node management plug-in.

[0019] The servo antenna simulation module is used to simulate the functions of ground and airborne servo antennas.

[0020] Specifically, the default working state of the ground servo is directional mode. The ground / airborne servo simulation plug-in calls the angle measurement, ranging and signal field strength calculation plug-ins based on the real-time acquisition of the drone position information, and rotates the servo antenna to the specified position or the maximum signal field strength according to the control instructions.

[0021] The link control simulation module is used to simulate the switching of UAV roles and link working parameters in the UAV data link simulation system.

[0022] Specifically, the default ground data terminal vehicle C / L link uplink working state is silent, internal control, low power state, and the control state is control mission mode; the airborne data link C / L uplink and downlink working states are working, low power, and the working mode is mission mode; when performing link control, you must first set the ground data terminal vehicle to external control and working state, and then configure the ground data link parameters according to the default power-on parameters of the UAV. Parameters such as the airborne link channel, bandwidth, working state, and working mode can only be controlled when the link remains locked.

[0023] The data link parameter simulation module is used to simulate the changes in the data link lock status recognition, signal field strength, angle measurement, ranging and azimuth error voltage of the UAV data link simulation system as the UAV moves.

[0024] Specifically, the data link parameter simulation module mainly simulates the changes in data link link lock status identification, signal field strength, angle measurement and ranging, and azimuth error voltage as the UAV moves. Among them, the data link link lock status simulation function is for the system to analyze the ground / airborne data terminal channel, transmission bandwidth, working mode, working status, link signal field strength and other parameters in real time, and simulate the data link link lock / loss; the signal field strength, angle measurement and ranging, and azimuth error voltage simulation functions are for the system to simulate the link signal field strength value, ground / UAV distance, azimuth error voltage and other parameters according to the UAV position information, ground data terminal position information and the angle of the servo antenna mechanism.

[0025] The measurement and control information transmission module is used to simulate the data transmission function of ADT and GDT.

[0026] Specifically, before the ADT (airborne data terminal), GDT (ground data terminal), the ground control station sends a control command to the UAV, it first calls the link parameter simulation module through the measurement and control information transmission module to confirm the locking status of the link between the current ground control station and the UAV. If the link is locked, the control command type is further analyzed to determine whether to forward it to other software, UAV entities or other simulation plug-ins of this system. If the link is unlocked, the control command is discarded. When the UAV sends telemetry, link measurement or video data to the ground control station, it needs to call the link control simulation module through the measurement and control information transmission module to confirm the current UAV data link role, and determine whether there is a relay between the UAV and the ground control station. If the relay exists, the downlink receiving locking status of the relay is obtained. If the relay does not exist, the downlink locking status of the ground data terminal vehicle is obtained. If the link is locked, the link bandwidth parameters are further obtained to determine whether the current data can be received.

[0027] The node management plug-in is used to integrate and call the corresponding plug-ins of each module and its own plug-in.

[0028] The above system of this embodiment is further introduced below.

[0029] The system functional modules are divided to establish plug-in libraries for each functional module, and the data link module plug-in is designed and developed based on the CPF (C++ Plugin Framework) application plug-in framework; this development method has a CPF modular expansion mechanism, supports the design and development of software in a modular way, improves the scalability and maintainability of the software, can be compiled and run on Windows 7, Windows 10 and the domestic Kylin Linux operating system, and can be compiled using VC2015 or GCC.

[0030] As an optional implementation method, the servo antenna simulation module includes a ground servo simulation plug-in and an airborne servo simulation plug-in; the ground servo simulation plug-in is used to simulate the azimuth search, azimuth manual, azimuth digital guidance, azimuth tracking, high and low manual, and high and low digital guidance functions of the ground terminal antenna; the airborne servo simulation plug-in is used to simulate the azimuth search, azimuth manual, and azimuth digital guidance functions of the unmanned aerial vehicle airborne antenna.

[0031] In this embodiment, if Figure 1As shown, the servo antenna simulation module includes a ground servo simulation plug-in and an airborne servo simulation plug-in. The antenna azimuth / height manual guidance function is that the system responds to the manual guidance of the directional servo antenna mechanism to move to the specified horizontal / pitch direction; the antenna azimuth / height digital guidance is that the system automatically rotates the directional antenna according to the position information of the ground data terminal and the UAV, and completes the alignment of the ground antenna and the airborne antenna; the antenna azimuth search simulation function is that the system simulates the search for the UAV field strength signal within the specified range with the current angle as the center, and aligns the servo antenna mechanism to the direction of the maximum signal field strength; the antenna azimuth tracking simulation is that the system rotates the antenna to the position of the maximum azimuth angle of the link signal field strength in real time.

[0032] As an optional implementation method, the link control simulation module includes a link control simulation plug-in; the link control simulation plug-in is used to simulate the working mode, channel switching, working status and bandwidth control functions of the data link.

[0033] In this embodiment, if Figure 1 As shown, the link control simulation module includes a link control simulation plug-in. The data link working mode simulation function is that the system determines the working mode of the ground / airborne data terminal through control instructions, including simulating the single-machine mission mode, multi-machine mission mode and multi-machine relay mission cooperation flight mission; the data link working state simulation function is that the system binds the working state of the data terminal (silent / working, high power / low power, etc.) through control instructions; the channel switching simulation function is that the system switches the C / L link uplink and downlink channels of the ground / airborne data terminal through control instructions; the bandwidth control simulation function is that the system switches the data transmission bandwidth of the ground / airborne data terminal through control instructions, thereby affecting the data link transmission rate of telemetry, video images and other data.

[0034] As an optional implementation method, the data link parameter simulation module includes: a signal field strength calculation plug-in, a link lock judgment plug-in, an angle measurement and ranging calculation plug-in and an azimuth error voltage calculation plug-in; a signal field strength calculation plug-in, used to calculate the signal field strength of the data link link; a link lock judgment plug-in, used to simulate the locked state or unlocked state of the data link link; an angle measurement and ranging calculation plug-in, used to calculate the angle and distance between the GDT and the ADT; an azimuth error voltage calculation plug-in, used to calculate the azimuth error voltage of the data link link.

[0035] In this embodiment, if Figure 1As shown, the data link parameter simulation module includes: a signal field strength calculation plug-in, a link lock judgment plug-in, an angle measurement and ranging calculation plug-in and an azimuth error voltage calculation plug-in. The data link link lock state simulation function is for the system to analyze the ground / airborne data terminal channel, transmission bandwidth, working mode, working state, link signal field strength and other parameters in real time to simulate the link lock / loss of the data link; the signal field strength, angle measurement and ranging, and azimuth error voltage simulation functions are for the system to simulate the link signal field strength value, the ground / UAV distance, and the azimuth error voltage according to the UAV position information, the ground data terminal position information and the angle of the servo antenna mechanism. Differential voltage and other parameters, radio angle measurement and ranging simulation is to analyze the longitude and latitude information of the UAV and the longitude and latitude of the ground data terminal vehicle transmitted by the external software in real time, and calculate the ground-to-air distance and azimuth / pitch angle in the Gaussian coordinate system; the signal field strength calculation logic is to analyze the ground, airborne data terminal location information, working status, servo antenna status, link bandwidth, azimuth and other influencing element data in real time, calculate whether the ground-to-air slant distance is greater than the effective range of the link communication, calculate the azimuth difference within the effective communication range, calculate the influencing factors of parameters such as azimuth, power, working status, code rate, servo working status, and then calculate the signal field strength value.

[0036] As an optional implementation method, the measurement and control information transmission module includes a measurement and control information transmission plug-in; the measurement and control information transmission plug-in is used to receive telemetry data from the UAV and remote control data and link control data from the ground control station, and transmit link measurement data from the ADT class, link measurement data from the GDT class, telemetry data, remote control data and link control data.

[0037] In this embodiment, if Figure 1 As shown, the measurement and control information transmission module includes a measurement and control information transmission plug-in, and the measurement and control information transmission module has the function of transmitting measurement and control information such as drone remote control / telemetry, data link remote control / telemetry, video images, etc. in a periodic, triggered, etc. manner.

[0038] As an optional implementation method, the node management plug-in includes: a GDT class and an ADT class, a node management class of a node management plug-in; a GDT class, used to call a ground servo simulation plug-in, a link control simulation plug-in, a signal field strength calculation plug-in, an angle measurement and ranging calculation plug-in, and an azimuth error voltage calculation plug-in; an ADT class, used to call an airborne servo simulation plug-in, a link control simulation plug-in, a signal field strength calculation plug-in, an angle measurement and ranging calculation plug-in, and an azimuth error voltage calculation plug-in; a node management class, used to mobilize the GDT class, the ADT class, and the link lock judgment plug-in.

[0039] In this embodiment, the node management plug-in is used to integrate and call various functional module plug-ins. The plug-in further includes a class object for simulating ground / airborne data terminals based on the plug-in interface, plug-in factory and plug-in implementation. The above-mentioned data terminal object calls each functional plug-in according to the functional implementation logic of the actual ground / airborne data terminal to calculate the real-time status of the data link. The node management plug-in implements the call to the ground / airborne data terminal class to implement the data link function business; the node management plug-in sets a timer function based on the QT timer QTimer and refreshes the data link status at an interval of 20ms, and stores the refreshed data link status information, and determines whether the functions of link control data reception and link measurement data sending can be realized according to the link locking status.

[0040] Each of the above plug-ins includes a plug-in interface, a plug-in factory and a plug-in implementation. The plug-in interface includes the instance name, version, description and exported interface; the plug-in implementation is used to create the basic implementation of the business plug-in. Each plug-in has its own associated JSON configuration file, in which the parameters required by the plug-in can be configured. When the plug-in is loaded, the above parameters will be passed to the plug-in by the plug-in manager; the plug-in factory is used to create plug-in instance objects.

[0041] In the embodiment of the present invention, a servo antenna simulation module is used to simulate the functions of ground and airborne servo antennas; a link control simulation module is used to simulate the switching of drone roles and link working parameters in a drone data link simulation system; a data link parameter simulation module is used to simulate the changes in data link link locking state recognition, signal field strength, angle measurement, ranging and azimuth error voltage of the drone data link simulation system as the drone moves; a measurement and control information transmission module is used to simulate the data transmission function of ADT and GDT; a node management plug-in is used to integrate and call the corresponding plug-ins of each module and its own plug-in, thereby solving the technical problem that it can only be used for a single model of drone simulation system, achieving a development method using a pure software-based conventional monolithic architecture, greatly reducing the development cost of the data link simulation system, without the need for a fixed operating hardware environment, and can be freely transplanted to other computers, greatly improving the ease of use of the data link simulation system, and based on the drone system universal remote control and telemetry data interface protocol, it can be used for daily ground detection and simulated flight of drones using a universal interface protocol, with a wide range of technical effects.

[0042] Example 2 According to an embodiment of the present invention, a method for using a generalized unmanned aerial vehicle data link simulation system is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system comprising at least one set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown here.

[0043] Figure 2 is a flow chart of a method for using a generalized UAV data link simulation system according to an embodiment of the present invention. Figure 2 As shown, the method may include the following steps: Step 201, when starting the UAV data link simulation system, obtain the initialization status values ​​of ADT and GDT, and the node management plug-in mobilizes the measurement and control information transmission plug-in and the node management class, wherein the initialization status value of ADT is the position data and working status parameters of the UAV, and the initialization status value of GDT is the position data and working status parameters of the ground terminal.

[0044] In the technical solution provided in step 201 of the present invention, before simulating the drone data link function, the ground control station needs to send the drone role configuration information to the simulation system. Figure 3 Schematic diagram of a data link simulation system according to an embodiment of the present invention that can simulate working modes. Figure 3 It can be seen that there are five working modes; after receiving the data link simulation system, the drone object is created and its machine number and link role are stored; after the drone role is configured, the ground / airborne data terminal object of the node management plug-in starts the timer to periodically refresh the current link status parameters; if the measurement and control information transmission plug-in receives network data, the locking status of the link between the ground data terminal and the airborne data terminal is first obtained through the node management plug-in. If the link is locked, the network data type is further analyzed to determine whether it is forwarded to other software, drone entities or used to control the functional modules of this system. If the link is unlocked, the next step cannot be entered.

[0045] Step 202: The node management class mobilizes the GDT class, the ADT class and the link lock determination plug-in.

[0046] In the technical solution provided in the above step 202 of the present invention, the node management class simultaneously mobilizes the GDT class, the ADT class and the link lock determination plug-in.

[0047] Step 203, the GDT class mobilizes the ground servo simulation plug-in, the link control simulation plug-in, the signal field strength calculation plug-in, the angle measurement and distance measurement calculation plug-in and the azimuth error voltage calculation plug-in.

[0048] Step 204, the ADT class calls the airborne servo simulation plug-in, the link control simulation plug-in, the signal field strength calculation plug-in, the angle measurement and distance measurement calculation plug-in, and the azimuth error voltage calculation plug-in.

[0049] Step 205: Input the initialization state value of the airborne data terminal and the initialization state value of the ground data terminal into the plug-in called by the GDT class to obtain a first set of target state values.

[0050] In the technical solution provided in the above step 205 of the present invention, the initialization status value of the airborne data terminal and the initialization status value of the ground data terminal are input into each plug-in called by the GDT class, and each plug-in calculates the initialization status value of the airborne data terminal and the initialization status value of the ground data terminal to obtain a first set of target status values.

[0051] Step 206: Input the initialization state value of the airborne data terminal and the initialization state value of the ground data terminal into the plug-in called by the ADT class to obtain a second set of target state values.

[0052] In the technical solution provided in the above step 206 of the present invention, the initialization status value of the airborne data terminal and the initialization status value of the ground data terminal are input into each plug-in called by the ADT class, and each plug-in calculates the initialization status value of the airborne data terminal and the initialization status value of the ground data terminal to obtain a second set of target status values.

[0053] Step 207: The link lock determination plug-in determines whether the link between the GDT and the ADT is locked according to the first set of target status values ​​and the second set of target status values.

[0054] In the technical solution provided in the above step 207 of the present invention, the link lock judgment logic is that both parties of the link are in a working state, and the working channel, bandwidth, signal strength, working mode and other parameters of the other end of the link are obtained. If the channel bandwidth is the same, the signal strength value is greater than 1 and the working mode is the same, the link is judged to be in a locked state.

[0055] Step 208, when the link between GDT and ADT is locked, the link measurement data from the ADT class and the link measurement data of the GDT class are transmitted to the GCS through the measurement and control information transmission plug-in, the telemetry data is transmitted to the GCS, and the remote control data is sent to the UAV simulation software. When the link control data is the link control data for controlling the ADT, the link control data is passed to the ADT class.

[0056] In the technical solution provided in the above step 208 of the present invention, when the link between GDT and ADT is locked, the link measurement data from the ADT class and the link measurement data of the GDT class are transmitted to the GCS through the measurement and control information transmission plug-in, the telemetry data is transmitted to the GCS, and the remote control data is sent to the UAV simulation software. When the link control data is the link control data for controlling the ADT, the link control data is passed to the ADT class.

[0057] Step 209, when the link between GDT and ADT is unlocked, the link measurement data of the GDT class is transmitted to the GCS through the measurement and control information transmission plug-in, the telemetry data is prohibited from being transmitted to the GCS, the remote control data is prohibited from being sent to the UAV simulation software, and when the link control data is the link control data for controlling the ADT, the link control data is prohibited from being transmitted to the ADT class; when the link control data is the link control data for controlling the GDT, the link control data is transmitted to the GDT class.

[0058] In the technical solution provided in the above step 209 of the present invention, when the link between GDT and ADT is unlocked, the link measurement data of the GDT class is transmitted to the GCS through the measurement and control information transmission plug-in, the telemetry data cannot be transmitted to the GCS, the remote control data cannot be sent to the UAV simulation software, and when the link control data is the link control data for controlling the ADT, the link control data will be prohibited from being transmitted to the ADT class. When the link control data is the link control data for controlling the GDT, the link control data will be transmitted to the GDT class.

[0059] In the embodiment of the present invention, when the UAV data link simulation system is started, the initialization state values ​​of ADT and GDT are obtained, the node management plug-in mobilizes the measurement and control information transmission plug-in and the node management class, the initialization state value of ADT is the position data and working state parameters of the UAV, and the initialization state value of GDT is the position data and working state parameters of the ground terminal; the node management class mobilizes the GDT class, the ADT class and the link lock judgment plug-in; the GDT class mobilizes the ground servo simulation plug-in, the link control simulation plug-in, the signal field strength calculation plug-in, the angle measurement and distance measurement calculation plug-in and the azimuth error voltage calculation plug-in; the ADT class calls the machine The plug-in includes a servo simulation plug-in, a link control simulation plug-in, a signal field strength calculation plug-in, an angle measurement and distance measurement calculation plug-in, and an azimuth error voltage calculation plug-in; the initialization state value of the airborne data terminal and the initialization state value of the ground data terminal are input into the plug-in called by the GDT class to obtain a first group of target state values; the initialization state value of the airborne data terminal and the initialization state value of the ground data terminal are input into the plug-in called by the ADT class to obtain a second group of target state values; the link lock judgment plug-in judges whether the link between the GDT and the ADT is locked according to the first group of target state values ​​and the second group of target state values; when the GDT and the AD When the link between GDT and ADT is locked, the link measurement data from the ADT class and the GDT class are transmitted to the GCS through the measurement and control information transmission plug-in, the telemetry data is transmitted to the GCS, and the remote control data is sent to the UAV simulation software. When the link control data is the link control data for controlling the ADT, the link control data is passed to the ADT class; when the link between GDT and ADT is unlocked, the link measurement data of the GDT class is transmitted to the GCS through the measurement and control information transmission plug-in, the telemetry data is prohibited from being transmitted to the GCS, the remote control data is prohibited from being sent to the UAV simulation software, and when the link control data is the link control data for controlling the ADT, the link control data is prohibited. The control data is passed to the ADT class. When the link control data is the link control data for controlling GDT, the link control data is passed to the GDT class, which solves the technical problem that it can only be used for a single type of UAV simulation system, and achieves the development method of pure software-based conventional single-body architecture, which greatly reduces the development cost of the data link simulation system. It does not require a fixed operating hardware environment and can be freely transplanted to other computers, which greatly improves the ease of use of the data link simulation system. Based on the general remote control and telemetry data interface protocol of the UAV system, it can be used for daily ground detection and simulated flight of UAVs using the general interface protocol, and has a wide range of technical effects.

[0060] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0061] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0062] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0063] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

Claims

1. A universal UAV data link simulation system, characterized in that: include: Servo antenna simulation module, used to simulate the functions of ground and airborne servo antennas; The link control simulation module is used to simulate the switching of the UAV roles and link working parameters in the UAV data link simulation system; The data link parameter simulation module is used to simulate the changes of the data link lock status recognition, signal field strength, angle measurement, ranging and azimuth error voltage of the UAV data link simulation system as the UAV moves; Measurement and control information transmission module, used to simulate the data transmission function of ADT and GDT; The node management plug-in is used to integrate and call the corresponding plug-ins of each module and its own plug-in.

2. A universal UAV data link simulation system according to claim 1, characterized in that: The servo antenna simulation module includes a ground servo simulation plug-in and an airborne servo simulation plug-in; Ground servo simulation plug-in, used to simulate ground terminal antenna azimuth search, azimuth manual, azimuth digital guidance, azimuth tracking, high and low manual, high and low digital guidance functions; The airborne servo simulation plug-in is used to simulate the azimuth search, azimuth manual and azimuth digital guidance functions of the UAV airborne antenna.

3. A universal UAV data link simulation system according to claim 1, characterized in that: The link control simulation module includes a link control simulation plug-in; Link control simulation plug-in, used to simulate the working mode, channel switching, working status and bandwidth control functions of the data link.

4. A universal UAV data link simulation system according to claim 1, characterized in that: The data link parameter simulation module includes: a signal field strength calculation plug-in, a link lock judgment plug-in, an angle measurement and distance measurement calculation plug-in and an azimuth error voltage calculation plug-in; Signal strength calculation plug-in, used to calculate the signal strength of the data link; Link lock judgment plug-in, used to simulate the lock state or unlock state of the data link; Angle and distance measurement plug-in, used to calculate the angle and distance between GDT and ADT; Azimuth error voltage calculation plug-in, used to calculate the azimuth error voltage of the data link.

5. A universal UAV data link simulation system according to claim 1, characterized in that: The measurement and control information transmission module includes a measurement and control information transmission plug-in; The measurement and control information transmission plug-in is used to receive telemetry data from the UAV and remote control data and link control data from the ground control station, and transmit link measurement data from the ADT class, link measurement data, telemetry data, remote control data and link control data from the GDT class.

6. A universal UAV data link simulation system according to claim 1, characterized in that: The node management plug-in includes: GDT class and ADT class, node management class of the node management plug-in; GDT class, used to call the ground servo simulation plug-in, link control simulation plug-in, signal field strength calculation plug-in, angle measurement and distance calculation plug-in and azimuth error voltage calculation plug-in; ADT class, used to call the airborne servo simulation plug-in, link control simulation plug-in, signal field strength calculation plug-in, angle measurement and distance calculation plug-in and azimuth error voltage calculation plug-in; Node management class, used to mobilize GDT class, ADT class and link lock judgment plug-in.

7. The method for using a universal UAV data link simulation system according to claim 1, characterized in that: include: When the UAV data link simulation system is started, the initialization status values ​​of ADT and GDT are obtained, and the node management plug-in mobilizes the measurement and control information transmission plug-in and the node management class. The initialization status value of ADT is the location data and working status parameters of the UAV, and the initialization status value of GDT is the location data and working status parameters of the ground terminal; The node management class mobilizes the GDT class, ADT class and link lock judgment plug-in; GDT type mobilizes ground servo simulation plug-in, link control simulation plug-in, signal field strength calculation plug-in, angle measurement and distance measurement calculation plug-in and azimuth error voltage calculation plug-in; The ADT class calls the airborne servo simulation plug-in, link control simulation plug-in, signal field strength calculation plug-in, angle measurement and distance measurement calculation plug-in, and azimuth error voltage calculation plug-in; Input the initialization state value of the airborne data terminal and the initialization state value of the ground data terminal into the plug-in called by the GDT class to obtain a first set of target state values; Inputting the initialization state value of the airborne data terminal and the initialization state value of the ground data terminal into the plug-in called by the ADT class to obtain a second set of target state values; The link lock determination plug-in determines whether the link between the GDT and the ADT is locked according to the first set of target status values ​​and the second set of target status values; When the link between GDT and ADT is locked, the link measurement data from the ADT class and the link measurement data of the GDT class are transmitted to the GCS through the measurement and control information transmission plug-in, the telemetry data is transmitted to the GCS, the remote control data is sent to the UAV simulation software, and when the link control data is the link control data for controlling the ADT, the link control data is passed to the ADT class; When the link between GDT and ADT is unlocked, the link measurement data of the GDT class will be transmitted to the GCS through the measurement and control information transmission plug-in, the telemetry data will be prohibited from being transmitted to the GCS, the remote control data will be prohibited from being sent to the UAV simulation software, and when the link control data is the link control data for controlling the ADT, the link control data will be prohibited from being transmitted to the ADT class; when the link control data is the link control data for controlling the GDT, the link control data will be transmitted to the GDT class.

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