A universal unmanned aerial vehicle data link simulation system

Abstract

The application discloses a general unmanned aerial vehicle data link simulation system, which comprises 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. The servo antenna simulation module is used for simulating ground and airborne servo antenna functions; 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 data link lock state identification, signal field strength, angle measurement, distance measurement and changes in azimuth error voltage caused by unmanned aerial vehicle movement; the measurement and control information transmission module is used for simulating data transmission functions of ADT and GDT; and the node management plug-in is used for integrating and calling corresponding plug-ins of each module and plug-ins of the node management plug-in. The application solves the technical problem that the system can only be used for a single type of unmanned aerial vehicle simulation system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle data link, in particular to a universal unmanned aerial vehicle data link simulation system. BACKGROUND

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

[0003] The role of the unmanned aerial vehicle data link is indispensable in the research and development and use of the unmanned aerial vehicle system, and it is extremely high cost to build a complete set of unmanned aerial vehicle data link. Summarizing the current research and development of the unmanned aerial vehicle data link simulation system, there is a situation that the research and development of a type of unmanned aerial vehicle needs to develop a corresponding data link simulation system, which causes repeated design, poor universality and waste of research and development resources. Therefore, it has high economic value to design a universal unmanned aerial vehicle data link simulation system.

[0004] A universal unmanned aerial vehicle data link simulation system is disclosed in the prior art, which proposes a universal data link simulation system suitable for different types of unmanned aerial vehicles, which intends to make small modifications to the system to adapt to different types of unmanned aerial vehicles without changing the system architecture. However, the invention is divided into an airborne device simulation device, a flight control computer and an unmanned aerial vehicle data link simulation system, and the entire system is composed of multiple hardware devices, which has high development cost of hardware and high requirements for the use environment. SUMMARY

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

[0006] According to an aspect of the embodiment of the present application, a universal unmanned aerial vehicle data link simulation system is provided. The system can 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 the unmanned aerial vehicle role and the link working parameters in the unmanned aerial vehicle data link simulation system; a data link parameter simulation module for simulating the data link lock state identification, signal field strength, angle measurement and range measurement and the change of azimuth error voltage caused by the movement of the unmanned aerial vehicle; a measurement and control information transmission module for simulating the data transmission function 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 comprises a ground servo simulation plug-in and an airborne servo simulation plug-in; the ground servo simulation plug-in is configured to simulate ground terminal antenna azimuth search, azimuth manual, azimuth digital guidance, azimuth tracking, high-low manual, high-low digital guidance functions; the airborne servo simulation plug-in is configured to simulate unmanned aerial vehicle airborne antenna azimuth search, azimuth manual, azimuth digital guidance functions.

[0008] Optionally, the link control simulation module comprises a link control simulation plug-in; the link control simulation plug-in is configured to simulate data link working mode, channel switching, working state and bandwidth control functions.

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

[0010] Optionally, the measurement and control information transmission module comprises a measurement and control information transmission plug-in; the measurement and control information transmission plug-in is configured to receive telemetry data from the unmanned aerial vehicle, remote control data and chain control data from the ground control station, and transmit the chain measurement data from the ADT, the chain measurement data from the GDT, the telemetry data, the remote control data and the chain control data.

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

[0012] According to an aspect of the embodiment of the present application, a method for using a universal unmanned aerial vehicle data link simulation system is provided, which can include: when the unmanned aerial vehicle data link simulation system is started, obtaining initialization state values of an ADT and a GDT, a node management plug-in mobilizing a measurement and control information transmission plug-in and a node management class, the initialization state values of the ADT being position data and working state parameters of the unmanned aerial vehicle, the initialization state values of the GDT being position data and working state parameters of the ground terminal; the node management class mobilizing a GDT class, an ADT class and a link locking judgment plug-in; the GDT class mobilizing a ground 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 a bearing error voltage calculation plug-in; the ADT class calling an airborne 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 a bearing error voltage calculation plug-in; inputting the initialization state values of the airborne data terminal and the initialization state values of the ground data terminal into the plug-ins called by the GDT class to obtain a first group of target state values; inputting the initialization state values of the airborne data terminal and the initialization state values of the ground data terminal into the plug-ins called by the ADT class to obtain a second group of target state values; the link locking judgment plug-in judging whether a 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 link between the GDT and the ADT is locked, transmitting chain measurement data from the ADT class and chain measurement data from the GDT class to a GCS through the measurement and control information transmission plug-in, transmitting telemetry data to the GCS and sending remote control data to unmanned aerial vehicle simulation software, and when the chain control data is chain control data for controlling the ADT, passing the chain control data to the ADT class; when the link between the GDT and the ADT is unlocked, transmitting chain measurement data from the GDT class to the GCS through the measurement and control information transmission plug-in, passing prohibited telemetry data to the GCS, sending prohibited remote control data to the unmanned aerial vehicle simulation software, and when the chain control data is chain control data for controlling the ADT, passing the prohibited chain control data to the ADT class, and when the chain control data is chain control data for controlling the GDT, passing the chain control data to the GDT class.

[0013] The present application has the following advantages:

[0014] The present application provides a universal unmanned aerial vehicle data link simulation system, which is divided 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 functions, and is further subdivided into function implementation design plug-ins, and the function plug-ins are realized based on a CPF application plug-in framework and a universal remote control and telemetry protocol, so that the system can be used for daily ground detection and simulation flight of unmanned aerial vehicles adopting a universal interface protocol, has a wide application range, and adopts a pure software type conventional single body architecture, so that the unmanned aerial vehicle data link simulation system has the advantages of good universality and low development cost compared with a traditional unmanned aerial vehicle data link simulation system under the premise of meeting basic function use. BRIEF DESCRIPTION OF DRAWINGS

[0015] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

[0016] Figure 1 is a schematic diagram of a general unmanned aerial vehicle data link simulation system according to an embodiment of the present application;

[0017] Figure 2 is a flow chart of a method of using a general unmanned aerial vehicle data link simulation system according to an embodiment of the present application;

[0018] Figure 3 is a schematic diagram of the working modes that can be simulated by a data link simulation system according to an embodiment of the present application. DETAILED DESCRIPTION

[0019] In order to make the technical personnel in the art better understand the present application scheme, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor should be within the scope of protection of the present application.

[0020] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged as appropriate, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0021] Embodiment 1

[0022] According to an embodiment of the present application, a general unmanned aerial vehicle data link simulation system is provided. It should be noted that the part of the structure shown in the schematic diagram of the accompanying drawings can be executed in a computer system comprising at least one set of computer executable instructions.

[0023] Figure 1 is a schematic diagram of a general unmanned aerial vehicle data link simulation system according to an embodiment of the present application, such as Figure 1As shown, the system can include: a servo antenna simulation module, a link control simulation module, a data link parameter simulation module, a TT&C information transmission module and a node management plug-in.

[0024] The servo antenna simulation module is used to simulate the functions of ground and airborne servo antennas.

[0025] Specifically, the default working state of the ground servo is the directional mode, and the ground / airborne servo simulation plug-in calls the angle measurement and signal field strength calculation plug-in according to the real-time acquisition of the UAV position information, and rotates the servo antenna to the specified position or the position with the maximum signal field strength according to the control instruction.

[0026] The link control simulation module is used to simulate the switching of the UAV role and the link working parameters in the UAV data link simulation system.

[0027] Specifically, the default ground data terminal vehicle C / L uplink working state is the mute, internal control, and low-power state, and the control state is the control task mode; the airborne data link C / L uplink and downlink working state is the working, low-power state, and the working mode is the task mode; when performing link control, the ground data terminal vehicle needs to be set to the external control and working state first, and then the ground data link parameters are configured according to the default power-on parameters of the UAV, and the parameters such as the airborne link channel, bandwidth, working state, and working mode can only be controlled when the link is in the locked state.

[0028] The data link parameter simulation module is used to simulate the changes of the data link lock state identification, signal field strength, angle measurement and distance measurement, and azimuth error voltage with the movement of the UAV.

[0029] Specifically, the data link parameter simulation module mainly simulates the changes of the data link lock state identification, signal field strength, angle measurement and distance measurement, and azimuth error voltage with the movement of the UAV, wherein the data link lock state simulation function is to analyze the ground / airborne data terminal channel, transmission bandwidth, working mode, working state, and link signal field strength in real time, and simulate the link lock / unlock of the data link; the signal field strength, angle measurement and distance measurement, and azimuth error voltage simulation function is to simulate the link signal field strength value, distance between the ground and the UAV, and azimuth error voltage according to the UAV position information, ground data terminal position information, and the angle of the servo antenna mechanism.

[0030] The TT&C information transmission module is used to simulate the data transmission function of the ADT and GDT.

[0031] Specifically, before the ADT (airborne data terminal), GDT (ground data terminal), ground control station sends a control instruction to the unmanned aerial vehicle, the link parameter simulation module is called through the TT&C information transmission module to confirm the locking state of the link between the ground control station and the unmanned aerial vehicle. If the link is locked, it is further analyzed whether the control instruction type is forwarded to other software, unmanned aerial vehicle entities or other simulation plug-ins of the system. If the link is lost, the control instruction is discarded. When the unmanned aerial vehicle sends telemetry, link measurement or video data to the ground control station, the link control simulation module is called through the TT&C information transmission module to confirm the current unmanned aerial vehicle data link role, and to determine whether there is a relay machine between the unmanned aerial vehicle and the ground control station. If the relay machine exists, the downlink receiving locking state of the relay machine is obtained. If the relay machine does not exist, the downlink locking state of the ground data terminal vehicle is obtained. If the link is locked, the link bandwidth parameter is further obtained to determine whether the current data can be received.

[0032] The node management plug-in is used to integrate and call corresponding plug-ins of each module and plug-ins of the node management plug-in itself.

[0033] The above system of the embodiment will be further introduced as follows.

[0034] The system function module division establishes a function module plug-in library, and the data link module plug-in is developed based on the CPF (C++ PluginFramework) application plug-in framework. The development method has a CPF modular extension mechanism, supports designing and developing software in a modular manner, improves the extensibility and maintainability of the software, can be compiled and run on Windows 7, Windows 10 and domestic Kirin Linux operating systems, and can be compiled using VC2015 or GCC.

[0035] As an optional embodiment, 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 ground terminal antenna azimuth search, azimuth manual, azimuth digital guidance, azimuth tracking, high-low manual, and high-low digital guidance functions. The airborne servo simulation plug-in is used to simulate the unmanned aerial vehicle airborne antenna azimuth search, azimuth manual, and azimuth digital guidance functions.

[0036] In this embodiment, as Figure 1As shown in the figure, the servo antenna simulation module includes a ground servo simulation plug-in and an airborne servo simulation plug-in, the antenna azimuth / elevation manual guidance function is that the system moves the directional servo antenna mechanism to a specified horizontal / tilt direction in response to manual guidance; the antenna azimuth / elevation digital guidance is that the system automatically rotates the directional antenna according to the position information of the ground data terminal and the unmanned aerial vehicle to complete the ground-to-air alignment of the ground antenna and the airborne antenna; the antenna azimuth search simulation function is that the system searches for a strong signal of the unmanned aerial vehicle within a specified range centered on the current angle, and aligns the servo antenna mechanism to rotate 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.

[0037] As an optional embodiment, 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 state and bandwidth control functions of the data link.

[0038] In this embodiment, as shown in the figure, Figure 1 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 a control instruction, including simulating a single-aircraft task mode, a multi-aircraft task mode and a multi-aircraft relay task cooperation flight task; the data link working state simulation function is that the system determines the working state (silent / working, high power / small power, etc.) of the data terminal through a control instruction; the channel switching simulation function is that the system switches the C / L chain uplink / downlink channel of the ground / airborne data terminal through a control instruction; the bandwidth control simulation function is that the system switches the data transmission bandwidth of the ground / airborne data terminal through a control instruction, thereby affecting the transmission rate of the data link to telemetry, video image and other data.

[0039] As an optional embodiment, the data link parameter simulation module includes a signal field strength calculation plug-in, a link lock judgment plug-in, an angle and distance calculation plug-in and an azimuth error voltage calculation plug-in; the signal field strength calculation plug-in is used to calculate the signal field strength of the data link; the link lock judgment plug-in is used to simulate the locked state or the lost lock state of the data link; the angle and distance calculation plug-in is used to calculate the angle and distance between the GDT and the ADT; the azimuth error voltage calculation plug-in is used to calculate the azimuth error voltage of the data link.

[0040] In this embodiment, as shown in the figure, Figure 1As shown in the figure, 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 calculation plug-in, and an azimuth error voltage calculation plug-in. The data link lock state simulation function of the system analyzes the parameters of the ground / airborne data terminal channel, transmission bandwidth, working mode, working state, and link signal field strength in real time, and simulates the link lock / lock loss of the data link. The signal field strength, angle measurement and distance, and azimuth error voltage simulation functions simulate the link signal field strength value, the distance between the ground and the UAV, 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. The radio angle measurement and distance simulation function analyzes the UAV longitude and latitude information and the ground data terminal vehicle longitude and latitude information transmitted by the external software in real time, calculates the ground-air distance and azimuth / tilt angle in the Gauss coordinate system, and calculates the influence factor of the azimuth angle, power, working state, code rate, and servo working state, and then calculates the signal field strength value.

[0041] As an optional embodiment, the measurement and control information transmission module includes a measurement and control information transmission plug-in. The measurement and control information transmission plug-in receives the telemetry data from the UAV and the remote control data and the chain control data from the ground control station, and transmits the chain measurement data from the ADT type, the chain measurement data from the GDT type, the telemetry data, the remote control data, and the chain control data.

[0042] In this embodiment, as shown in the figure, Figure 1 The measurement and control information transmission module includes a measurement and control information transmission plug-in. The measurement and control information transmission module has the function of transmitting the measurement and control information of the UAV remote control / telemetry, the data link remote control / telemetry, and video images in a periodic, triggered, or other manner.

[0043] As an optional embodiment, the node management plug-in includes a GDT type and an ADT type, and a node management type of the node management plug-in. The GDT type is used to call the ground servo simulation plug-in, the link control simulation plug-in, the signal field strength calculation plug-in, the angle measurement and distance calculation plug-in, and the azimuth error voltage calculation plug-in. The ADT type is used to call the airborne servo simulation plug-in, the link control simulation plug-in, the signal field strength calculation plug-in, the angle measurement and distance calculation plug-in, and the azimuth error voltage calculation plug-in. The node management type is used to mobilize the GDT type, the ADT type, and the link lock judgment plug-in.

[0044] In this embodiment, the node management plug-in is used to integrate and call each functional module plug-in, which further comprises a class object for simulating a ground / airborne data terminal on the basis of the plug-in interface, plug-in factory and plug-in implementation, the data terminal object calls each functional plug-in to calculate the real-time state of the data link according to the functional implementation logic of the actual ground / airborne data terminal, the node management plug-in realizes the calling of the ground / airborne data terminal class to realize the data link functional service; the node management plug-in sets a timer function based on the QT timer QTimer and refreshes the data link state at an interval of 20 ms, and stores the refreshed data link state information, and judges whether the functions such as chain control data receiving and chain measurement data sending can be realized according to the link locking state.

[0045] Each of the above-mentioned plug-ins comprises a plug-in interface, a plug-in factory and a plug-in implementation, the plug-in interface comprises an instance name, a version, a description and an exported interface; the plug-in implementation is used to create a basic implementation of the service plug-in, each plug-in has its own associated JSON configuration file, and the parameters required by the plug-in can be configured in the configuration file, and the above-mentioned parameters are transmitted into the plug-in by the plug-in manager when the plug-in is loaded; the plug-in factory is used to create a plug-in instance object.

[0046] In the embodiment of the application, the servo antenna simulation module is used to simulate the functions of ground and airborne servo antennas; the link control simulation module is used to simulate the switching of the unmanned aerial vehicle role and the link working parameters in the unmanned aerial vehicle data link simulation system; the data link parameter simulation module is used to simulate the identification of the data link locking state, the signal field strength, the angle measurement and distance measurement and the change of the azimuth error voltage caused by the movement of the unmanned aerial vehicle in the unmanned aerial vehicle data link simulation system; the measurement and control information transmission module is used to simulate the data transmission function of the ADT and the GDT; and the node management plug-in is used to integrate and call the corresponding plug-in of each module and the plug-in of itself, thereby solving the technical problem that the system can only be used for a single type of unmanned aerial vehicle simulation system, greatly reducing the development cost of the data link simulation system by using the conventional monomer architecture of pure software, not needing a fixed running hardware environment, being freely transplanted into other computers, greatly improving the use convenience of the data link simulation system, and being based on the general remote control and telemetry data interface protocol of the unmanned aerial vehicle system, so that the system can be used for the daily ground detection and simulation flight of unmanned aerial vehicles using the general interface protocol, and has a wide application range.

[0047] Embodiment 2

[0048] According to the embodiment of the application, a use method of a general unmanned aerial vehicle data link simulation system is provided, and 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 can be executed in an order different from that herein.

[0049] Figure 2 is a flow chart of a method for using a universal unmanned aerial vehicle data link simulation system according to an embodiment of the present application, as shown in the figure, the method can include the following steps: Figure 2

[0050] In step 201, when starting the unmanned aerial vehicle data link simulation system, the initialization state values of the ADT and the GDT are obtained, and the node management plug-in mobilizes the measurement and control information transmission plug-in and the node management class, wherein the initialization state values of the ADT are the position data and the working state parameters of the unmanned aerial vehicle, and the initialization state values of the GDT are the position data and the working state parameters of the ground terminal.

[0051] In the technical solution provided in the above step 201 of the present application, before simulating the unmanned aerial vehicle data link function, the ground control station needs to send the unmanned aerial vehicle role configuration information to the simulation system, Figure 3 is a schematic diagram of the working modes that can be simulated by the data link simulation system according to an embodiment of the present application, as shown in the figure, Figure 3 It can be seen that there are five working modes; the data link simulation system receives and creates the unmanned aerial vehicle object and stores the serial number and the link role of the unmanned aerial vehicle object; after the unmanned aerial vehicle role is configured, the ground terminal object and the airborne data terminal object of the node management plug-in start the timer to periodically refresh the current link state parameters; if the measurement and control information transmission plug-in receives network data, it first obtains the lock state of the link between the ground data terminal and the airborne data terminal through the node management plug-in, if the link is locked, it further analyzes the type of the network data to determine whether to forward to other software, the unmanned aerial vehicle entity or used to control the function modules of the system, if the link is unlocked, it cannot enter the next step of operation.

[0052] In step 202, the node management class mobilizes the GDT class, the ADT class and the link lock judgment plug-in.

[0053] In the technical solution provided in the above step 202 of the present application, the node management class simultaneously mobilizes the GDT class, the ADT class and the link lock judgment plug-in.

[0054] In 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.

[0055] In 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.

[0056] In step 205, the initialization state values of the airborne data terminal and the initialization state values of the ground data terminal are input into the plug-ins called by the GDT class to obtain a first set of target state values.

[0057] ​In the technical scheme provided in the step 205 of the present application, the initialization state value of the airborne data terminal and the initialization state value of the ground data terminal are input into each plug-in of the GDT class call, each plug-in calculates the initialization state value of the airborne data terminal and the initialization state value of the ground data terminal, and a first group of target state values is obtained.

[0058] In the step 206 of the present application, 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 of the ADT class call, and a second group of target state values is obtained.

[0059] In the technical scheme provided in the step 206 of the present application, the initialization state value of the airborne data terminal and the initialization state value of the ground data terminal are input into each plug-in of the ADT class call, each plug-in calculates the initialization state value of the airborne data terminal and the initialization state value of the ground data terminal, and a second group of target state values is obtained.

[0060] In the step 207 of the present application, the link locking 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.

[0061] In the technical scheme provided in the step 207 of the present application, the link locking judgment logic is that when both sides of the link are in the working state, the working channel, the bandwidth, the signal field strength and the working mode of the other end of the link are obtained, and if the channel bandwidth is the same, the signal field strength value is greater than 1 and the working mode is the same, it is determined that the link is in the locked state.

[0062] In the step 208 of the present application, when the link between the GDT and the ADT is locked, the telemetry data and the telecommand data from the ADT class and the GDT class are transmitted to the GCS through the TT&C information transmission plug-in, the telemetry data is transmitted to the GCS, the telecommand data is sent to the UAV simulation software, and when the telecommand data is the telecommand data for controlling the ADT, the telecommand data is transmitted to the ADT class.

[0063] In the technical scheme provided in the step 208 of the present application, when the link between the GDT and the ADT is locked, the telemetry data and the telecommand data from the ADT class and the GDT class are transmitted to the GCS through the TT&C information transmission plug-in, the telemetry data is transmitted to the GCS, the telecommand data is sent to the UAV simulation software, and when the telecommand data is the telecommand data for controlling the ADT, the telecommand data is transmitted to the ADT class.

[0064] Step 209, when the link between GDT and ADT is lost, the chain measurement data of GDT class is transmitted to GCS through the TT&C information transmission plug-in, the telemetry data is prohibited to be transmitted to GCS, the remote control data is prohibited to be sent to the unmanned aerial vehicle simulation software, when the chain control data is the chain control data for controlling ADT, the chain control data is prohibited to be transmitted to ADT class, and when the chain control data is the chain control data for controlling GDT, the chain control data is transmitted to GDT class.

[0065] In the technical scheme provided in the above step 209 of the application, when the link between GDT and ADT is lost, the chain measurement data of GDT class is transmitted to GCS through the TT&C information transmission plug-in, the telemetry data is prohibited to be transmitted to GCS, the remote control data is prohibited to be sent to the unmanned aerial vehicle simulation software, when the chain control data is the chain control data for controlling ADT, the chain control data is prohibited to be transmitted to ADT class, and when the chain control data is the chain control data for controlling GDT, the chain control data is transmitted to GDT class.

[0066] In the embodiment of the present application, when starting the unmanned aerial vehicle data link simulation system, 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 parameter of the unmanned aerial vehicle, and the initialization state value of GDT is the position data and working state parameter of the ground terminal; the node management class mobilizes the GDT class, the ADT class and the link locking 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 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 locking judgment plug-in judges whether the link between GDT and ADT is locked according to the first group of target state values and the second group of target state values; when the link between GDT and ADT is locked, the chain measurement data from the ADT class and the chain measurement data from 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 unmanned aerial vehicle simulation software, and when the chain control data is the chain control data for controlling ADT, the chain control data is transmitted to the ADT class; when the link between GDT and ADT is unlocked, the chain measurement data of the GDT class is transmitted to the GCS through the measurement and control information transmission plug-in, the prohibited telemetry data is transmitted to the GCS, the prohibited remote control data is sent to the unmanned aerial vehicle simulation software, and when the chain control data is the chain control data for controlling ADT, the prohibited chain control data is transmitted to the ADT class, and when the chain control data is the chain control data for controlling GDT, the chain control data is transmitted to the GDT class, thereby solving the technical problem that the simulation system can only be used for a single type of unmanned aerial vehicle, greatly reducing the development cost of the data link simulation system by using the development mode of the conventional single body structure of pure software, not needing a fixed running hardware environment, being freely transplanted into other computers, greatly improving the use convenience of the data link simulation system, being based on the general remote control and telemetry data interface protocol of the unmanned aerial vehicle system, being applicable to the daily ground detection and simulation flight of the unmanned aerial vehicle using the general interface protocol, and having wide application range.

[0067] The above-mentioned serial numbers of the embodiments of the present application only serve for description, and do not represent the advantages and disadvantages of the embodiments.

[0068] In the above-mentioned embodiments of the present application, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0069] In several embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. Among them, the above-mentioned device embodiments are only schematic, for example, the division of units can be a logical function division, and actual implementation can have another division mode, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the coupling or direct coupling or communication connection between the units or modules shown or discussed can be indirect coupling or communication connection through some interfaces, units or modules, which can be electrical or other forms.

[0070] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they can be distributed to multiple units. Part or all of the units can be selected according to actual needs to achieve the purpose of the present embodiment.

Claims

1. A general-purpose UAV data link simulation system, characterized in that, include: The servo antenna simulation module is used to simulate the functions of ground-based and airborne servo antennas. The link control simulation module is used to simulate the switching of UAV roles and link operating parameters in the UAV data link simulation system. The data link parameter simulation module is used to simulate the changes in data link lock status, signal field strength, angle measurement, ranging, and azimuth error voltage of the UAV data link simulation system as the UAV moves. The measurement and control information transmission module is used to simulate the data transmission functions of ADT and GDT; The node management plugin is used to integrate and call the corresponding plugins of each module and its own plugin; The system's usage methods include: When the UAV data link simulation system is started, the initialization status values ​​of ADT and GDT are obtained. The node management plugin calls the telemetry and control information transmission plugin and the node management class. The initialization status value of ADT is the UAV's position data and working status parameters, and the initialization status value of GDT is the ground terminal's position data and working status parameters. The node management class invokes the GDT class, ADT class, and link locking detection plugin; GDT-type ground servo simulation plugin, link control simulation plugin, signal field strength calculation plugin, angle and distance measurement calculation plugin, and azimuth error voltage calculation plugin; The ADT class calls the airborne servo simulation plugin, link control simulation plugin, signal field strength calculation plugin, angle and distance measurement calculation plugin, and azimuth error voltage calculation plugin; The initialization status values ​​of the airborne data terminal and the ground data terminal are input into the plugin called by the GDT class to obtain the first set of target status values; The initialization status values ​​of the airborne data terminal and the ground data terminal are input into the plugin called by the ADT class to obtain the second set of target status values; The link locking detection plugin determines whether the link between GDT and ADT is locked based on 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 ADT and GDT are transmitted to GCS through the telemetry and control information transmission plug-in, the telemetry data is transmitted to GCS, and the remote control data is sent to the UAV simulation software. When the link control data is the link control data that controls ADT, the link control data is transmitted to ADT. When the link between GDT and ADT is lost, the link measurement data of GDT class is transmitted to GCS through the telemetry and control information transmission plug-in, the prohibition telemetry data is transmitted to GCS, and the prohibition remote control data is sent to the UAV simulation software. When the link control data is the link control data for controlling ADT, the prohibition link control data is transmitted to ADT class. When the link control data is the link control data for controlling GDT, the link control data is transmitted to GDT class.

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

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

4. The 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 plugin, a link locking judgment plugin, an angle and distance measurement calculation plugin, and an azimuth error voltage calculation plugin. Signal strength calculation plugin, used to calculate the signal strength of the data link; Link locking detection plugin, used to simulate the locked or unlocked state of a data link; Angle and distance measurement calculation plugin, used to calculate the angle and distance between GDT and ADT; The azimuth error voltage calculation plugin is used to calculate the azimuth error voltage of the data link.

5. A general-purpose 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 telemetry and control information transmission plugin is used to receive telemetry data from UAVs and remote control data and chain control data from ground control stations, and to transmit chain measurement data, telemetry data, remote control data and chain control data from ADT type, GDT type.

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

7. A method of using the universal UAV data link simulation system as described in 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. The node management plugin calls the telemetry and control information transmission plugin and the node management class. The initialization status value of ADT is the UAV's position data and working status parameters, and the initialization status value of GDT is the ground terminal's position data and working status parameters. The node management class invokes the GDT class, ADT class, and link locking detection plugin; GDT-type ground servo simulation plugin, link control simulation plugin, signal field strength calculation plugin, angle and distance measurement calculation plugin, and azimuth error voltage calculation plugin; The ADT class calls the airborne servo simulation plugin, link control simulation plugin, signal field strength calculation plugin, angle and distance measurement calculation plugin, and azimuth error voltage calculation plugin; The initialization status values ​​of the airborne data terminal and the ground data terminal are input into the plugin called by the GDT class to obtain the first set of target status values; The initialization status values ​​of the airborne data terminal and the ground data terminal are input into the plugin called by the ADT class to obtain the second set of target status values; The link locking detection plugin determines whether the link between GDT and ADT is locked based on 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 ADT and GDT are transmitted to GCS through the telemetry and control information transmission plug-in, the telemetry data is transmitted to GCS, and the remote control data is sent to the UAV simulation software. When the link control data is the link control data that controls ADT, the link control data is transmitted to ADT. When the link between GDT and ADT is lost, the link measurement data of GDT class is transmitted to GCS through the telemetry and control information transmission plug-in, the prohibition telemetry data is transmitted to GCS, and the prohibition remote control data is sent to the UAV simulation software. When the link control data is the link control data for controlling ADT, the prohibition link control data is transmitted to ADT class. When the link control data is the link control data for controlling GDT, the link control data is transmitted to GDT class.

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