Multi-machine adaptive command and control coding terminal and processing method for medium and large unmanned aerial vehicles

Abstract

The invention belongs to the field of unmanned aerial vehicle control, and relates to a multi-vehicle adaptive command and control coding terminal and a processing method for medium and large unmanned aerial vehicles. Hardware comprises a case, a power supply, a central processing unit, a memory, a network interface and the like. The logic processing comprises an instruction coding template, an instruction mapping dictionary, a communication channel, a frame coding unit, a channel scheduling unit, a state detection feedback unit, a cascade management unit and the like, traditional data coding is supported, meanwhile, self-adaptive data categories are added to achieve flight and task operation mutual backup, rapid and convenient station external control access is supported, the one-station multi-machine function is achieved, and the service life of the system is prolonged. Real-time control data monitoring and feedback and communication between encoders are provided.

Description

Technical Field

[0001] The invention belongs to the field of unmanned aerial vehicle control, and relates to a multi-machine adaptive command and control coding terminal and a processing method for medium and large-sized unmanned aerial vehicles. Background Art

[0002] The ground command and control system of medium and large UAVs needs to transfer ground information such as flight control, load control, voice communication, link control, etc. to the UAVs in real time. Therefore, it is necessary to encode these ground information into a communication format with the UAV through the ground command and control coding terminal, and then transmit them to the UAV through a wireless link. However, with the rapid development of large UAV technology, the traditional 1-station 1-machine command and control mode has gradually evolved to 1-station dual-machine, or even 1-station 4-machine mode. With the increase in the number of controlled UAVs, the UAV ground command and control stations are becoming more and more complex, and there are many types of control systems. How to coordinate, integrate, and timely process various types of information such as flight control and mission control of different UAVs and different ground stations at the ground station is a problem that must be faced. The existing UAV ground command coding method is no longer competent and urgently needs to be changed. Summary of the invention

[0003] Purpose of the Invention

[0004] The present invention is based on the increasingly complex and diverse control of UAV command and control systems, and proposes a command and control coding terminal that supports cascading between UAV ground stations. The command and control coding terminal can adapt to different operating seat data and support seat mutual backup to meet flexible control requirements; realize combined control support for airborne equipment to facilitate access to other control systems; realize data frame priority support to meet data channel preemption in emergency situations; realize 1-station multi-machine support to meet the simultaneous control of multiple medium and large UAVs by 1 ground station; realize fault and conflict detection support, monitor various data in real time and feedback status; and realize equipment cascading support.

[0005] Technical Solution

[0006] While supporting traditional data encoding, the present invention adds adaptive data categories to achieve mutual backup of flight and mission operations, supports fast and convenient off-site control access, realizes 1-station multi-machine function, provides real-time control data monitoring and feedback, and communication between encoders.

[0007] A multi-machine adaptive command and control coding terminal for medium and large UAVs, whose hardware includes a chassis, a power supply, a central processing unit, a memory, a network interface, etc. The power supply, the central processing unit, and the memory are installed in the chassis, and external interaction is achieved through the network interface. Its logic processing includes instruction coding templates, instruction mapping dictionaries, communication channels, framing units, channel scheduling, state detection feedback, and cascade management units, etc. Figure 1 The specific description of each logical processing unit is as follows:

[0008] The command coding template stores the uplink remote control frame structure information transmitted to the data link, including synchronization flag, header information, voice data, mission data, flight control data, link data, data start bit, data length and other parameter information. It can be defined externally and then imported into the terminal. The terminal loads the command coding template at startup to form the uplink remote control frame format and prepare to receive data processing from the framing unit.

[0009] The instruction mapping dictionary stores the instruction IDs and detailed information of various tasks, and is also imported into the encoder after being externally defined. With the help of the instruction mapping dictionary, the external system can achieve device control by only using the instruction ID, shielding the specific instruction information and ensuring system security. The terminal loads the instruction mapping dictionary file at startup, caches the basic information of the instruction, and forms an instruction hash mapping table for external use, which is used for control access of the external control system.

[0010] The communication channel is a network channel used to communicate with the data link to transmit uplink remote control frames. Different channels transmit different aircraft or link information.

[0011] The framing unit encodes the received flight data, mission data, voice data, link data, etc. into the corresponding uplink remote control frame.

[0012] Channel scheduling is used to set the control aircraft information of the current channel and perform tasks such as aircraft switching.

[0013] Status detection feedback means that the terminal maintains monitoring of the data frame status of the operating seat during operation, and then combines the validity and counting statistics of the control frames received within the period to determine the status of the specific operating seat and data frame, including various situations such as low frequency, overfrequency or abnormality of the data frame, and reports it to the relevant system of the ground station in the form of feedback frames.

[0014] The cascade management unit is used for the cascaded coordination of coding terminals. When the command coding terminal receives the uplink remote control data frame sent by other ground station terminals, if its priority mark is higher than that of this device, it will forward the data of this device; if its priority is lower, it will continue to send the uplink remote control data of this device. Figure 3 .

[0015] Furthermore, the instruction encoding template and the instruction mapping dictionary are stored in a storage medium in the form of a file. The communication channel is managed by a channel control unit of the communication link.

[0016] Furthermore, the framing unit receives flight data, mission data, link data, voice data, etc. in the ground station and defines framing according to the instruction coding template.

[0017] Furthermore, the status detection feedback is fed back to the sender based on the status of various types of received data, and the sender has been informed of the data status.

[0018] Furthermore, the accusation encoding terminals are interconnected with each other through a cascade management unit to support cascade transmission of instructions between encoding terminals in different locations.

[0019] Furthermore, a multi-machine adaptive command and control coding method for medium and large UAVs includes the following:

[0020] 1) After the terminal is powered on, first find and load the command code template file, which defines the structure information of the uplink remote control frame.

[0021] 2) The terminal generates uplink remote control frames in full correspondence with the uplink remote control frame format defined in the template file, and sends these uplink remote control frames to the link device at a specific period. The received flight control data, mission data, etc. will be filled into the position specified by the template. The template file can be imported into the encoding terminal after being defined externally.

[0022] 3) Load the instruction mapping dictionary file, cache the basic information of the instruction, and form an instruction hash mapping table for external use, as shown in Table 1, to provide support for external control system access. The instruction mapping dictionary file contains various instruction IDs and detailed information, which are also imported into the encoder after external definition. Through the instruction mapping dictionary, only the instruction ID can be used for the external system, thereby shielding the specific instruction information from the outside and ensuring information security.

[0023] 4) When the flight data frames, mission data frames, voice data frames, and link data frames of the ground station reach the encoding terminal through the network, the terminal first performs a data validity check. If it fails, it will be discarded directly. If it passes, the flag will be extracted and the drone information contained will be determined to determine whether it exists. If not, the drone list will be updated;

[0024] 5) While receiving data frames in real time, data frame verification and identification are also performed to monitor the operating seat and control frame status. The operating status of the specific operating seat is determined by combining the validity and counting statistics of the control frames received within the period, and the flight, mission and other related data frame status are monitored, including various situations such as low frequency, overfrequency or abnormality of the data frame, as shown in Table 2, which are reported to the relevant system of the ground station in the form of feedback frames and reported in red, orange, yellow, green and gray.

[0025] The data frame content that matches the identifier is extracted and encoded into the specified position in the uplink remote control frame according to the encoding template to achieve data encoding for a specific aircraft.

[0026] 6) When receiving the external data frame, check and determine the flight information contained in it, extract the command ID for the correct data frame, and search the command mapping dictionary to obtain the corresponding specific command information and compile it into the uplink remote control frame. Any external control system that needs to access the ground station system uses the command ID as an external interface for data communication.

[0027] 7) Establish multiple data channels as needed and accept the control and scheduling of the channel manager. The uplink command frames of each aircraft are in the channel. The channel is interconnected with the data link. With the support of a high-precision timer, the uplink remote control frame is sent to the corresponding data link in real time, and then sent to the UAV by the data link.

[0028] Furthermore, the structural information in 1) includes synchronization flag, header information, voice data, mission data, flight control data, link data, etc., all of which define parameter information such as data start bit and data length in the template.

[0029] Furthermore, in 4), if there is a drone adaptive matching, the extracted mark includes important basic information such as the operating seat mark, the control frame mark, the station mark, and the control aircraft mark.

[0030] Furthermore, the data frame content in 5) includes voice data, mission data, and aircraft data.

[0031] Furthermore, the encoding terminal also has the following capabilities:

[0032] Furthermore, the flight, mission and other data frames have priority flags, and the encoder is used to preempt or take over data in an emergency. When an operating seat is abnormal, which can seriously affect flight safety, the backup flight or mission control system can be forced to use a high priority flag to take over. The corresponding control frame contains a high priority flag, and the command encoding terminal will use the data with a high priority flag for encoding, and discard other similar data, so as to realize the preemption or takeover of control in an emergency.

[0033] Furthermore, the cascade management unit is used for the cascaded coordination of the coding terminals. When the command coding terminal receives the uplink remote control data frame sent by the command coding terminal of other ground stations, if its priority mark is higher than that of the device, it forwards the device data; if its priority mark is lower, it continues to send the uplink remote control data of the device. Figure 3 .

[0034] Technical Effects

[0035] Support multiple operating seats and real-time mutual backup between seats, support multiple flight control, mission control, link control and voice data systems, and support real-time dynamic control system hot backup;

[0036] Support external security control access, simplifying external control system access while hiding key control information to ensure information security;

[0037] Introducing instruction encoding templates to decouple encoding logic from devices, thereby supporting multiple encoding formats more flexibly and quickly, while ensuring data format exclusivity and enabling rapid customization of encoding formats;

[0038] Introducing data frame priority check and judgment to support data and channel preemption in emergency situations;

[0039] Support one ground station to encode multiple drone control data, providing basic support for one station with multiple drones;

[0040] Support fault and conflict detection, real-time monitoring of control data and feedback of status. Monitor the working status of seats, flight control, mission control, and link control;

[0041] Support fast communication between devices. Integrate the coding requirements of different locations. The coded data of one accusation coding terminal can be transmitted to other accusation coding terminals through the network, and then framed and forwarded by other accusation coding terminals, realizing cascade transmission of data between terminals.

[0042] The encoding terminal has flexible data communication channel expansion capabilities;

[0043] By introducing the command mapping dictionary, external access is only through the command identifier, thereby realizing the hiding of specific information of drone control commands. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a schematic diagram of the interaction between the accusation coding terminal and the outside world;

[0045] Figure 2 It is a schematic diagram of the working process of the multi-machine adaptive charge and control coding method;

[0046] Figure 3 It is a schematic diagram of cascade communication of charge coding terminals. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical scheme and advantages of the implementation of the present invention clearer, the technical scheme in the embodiment of the present invention will be described in more detail in combination with the embodiment of the present invention. In the example, the same or similar reference numerals throughout represent the same or similar originals or elements with the same or similar functions. The described embodiments are part of the embodiments of the present invention, not all of them. The embodiments described below by reference are exemplary and intended to be used to explain the present invention, and should not be construed as limitations on the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present invention. The following is a detailed description in combination with the embodiments of the present invention.

[0048] An implementation method of a command and control coding terminal supporting cascading between UAV ground stations is as follows:

[0049] Load the command encoding template file, and generate uplink remote control frames of the corresponding format according to the template definition. These frames are sent in the data channel. The command encoding template file mainly defines various types of information of the uplink remote control frame, such as synchronization flag, frame identifier, flight control data, mission data, etc. The relevant information is defined in the template. The encoder encodes according to the definition and periodically sends these uplink remote control frames to the link device. The template file is imported into the encoder after the external definition.

[0050] Load the instruction mapping dictionary file, cache the basic information of the instruction, and form an instruction hash mapping table for external use, which is used for external control system control access. The instruction mapping dictionary file contains the instruction IDs and detailed information of various tasks, which are also imported into the encoder after external definition. Through the instruction mapping dictionary, only the instruction ID can be used for the external system, thereby shielding the specific instruction information from the outside and ensuring information security.

[0051] Related objects are started, including: high-precision timer start-up, related network communication interface start-up, and communication channel start-up.

[0052] According to the data frames of the flight and mission control system received in the ground station, important basic information such as the operating seat mark, control frame mark, station mark, and control aircraft mark are extracted, and the data frame content matching the relevant marks, such as voice data, mission data, aircraft data, etc., are extracted and integrated into the corresponding position in the uplink remote control frame to realize the control command encoding of a specific aircraft. Figure 2 shown.

[0053] When receiving the external control data frame, extract and check the corresponding flight information, extract the command ID of the correct data frame and look up the command mapping table, obtain the corresponding specific command information and compile it into the uplink remote control frame. Any external control system that needs to access the ground station system uses the command ID as an external interface for data communication.

[0054] Multiple data channels are established as needed, and the network control and scheduling of the channel manager are accepted. The uplink command frames of each aircraft are in the channel, and the channel is interconnected with the data link. The data link extracts the channel data in real time and sends it to the corresponding drone. After receiving it, the drone executes the matching control command frame.

[0055] While receiving the control frames from the operating seat in real time, it also performs data frame verification and identification, keeps monitoring the operating seat and control frame status, and then combines the validity and counting statistics of the control frames received within the cycle to determine the working status of the specific operating seat, and monitors the status of relevant data frames such as flight and mission, including various situations such as low frequency, overfrequency or abnormality of data frames, and reports them to the relevant systems of the ground station in the form of feedback frames, and reports them in red, orange, yellow, green and gray.

[0056] The flight, mission and other data frames have priority flags, and the encoder is used to preempt or take over data in an emergency. When an operating seat is abnormal, which can seriously affect flight safety, the backup flight or mission control system can be forced to use a high priority mark to take over. The corresponding control frame contains a high priority mark, and the command encoding terminal will use the data with a high priority mark for encoding, and discard other similar data, so as to realize the preemption or takeover of control in an emergency.

[0057] When the command coding terminal receives an uplink remote control data frame sent by the command coding terminal of another ground station, if its priority flag is higher than that of this device, it forwards the device data; if its priority is lower, it continues to send the uplink remote control data of this device.

[0058] This technical solution has the following features:

[0059] Adapt to different operating seat data and support seat backup to meet flexible control needs. Not limited by the number of seats, support flexible switching between aircraft and control systems;

[0060] Safe and convenient access to other control systems. Control access to other ground station equipment, such as SAR and other equipment.

[0061] Implement data frame priority support to meet the needs of preempting or taking over key control data in emergency situations;

[0062] It supports data encoding of multiple drones at one station, and provides support for one ground station to simultaneously encode the flight and mission control data of multiple medium and large drones.

[0063] Realize fault and conflict detection support, monitor various data in real time and feedback status. Monitor the working status of seats and make judgments, monitor flight and mission control status, including various situations such as low frequency, overfrequency or abnormality of data frames.

[0064] It supports device cascading, and multiple devices can exchange data, facilitating communication between ground stations. It also enables data delivery between remote and long-distance control stations with the help of the network.

[0065] Considering that the communication between the ground station and the UAV requires the assistance of multiple channels, each channel is scheduled by the channel control unit, which specifies the flight information of the channel. In this way, the communication channel, aircraft information, control information, etc. between the ground station and the UAV can be specified according to the communication channel situation. In addition, the encoder device also has the ability to expand channels.

[0066] Introduce instruction coding templates to quickly and flexibly redefine the coding frame format as needed to support uplink data formats for different types of aircraft, while ensuring the proprietary data format and achieving rapid customization.

[0067] Introduce an instruction mapping dictionary to hide the key basic information of important instructions, and use a mapping method for use by external systems to ensure information security.

[0068] Using high-precision real-time dynamic encoding, the clock accuracy is within the range of + / -1ms.

[0069] Data dual network redundant backup communication.

[0070] Supports coded transmission of control data, text, voice, and image data.

[0071] Table 1 Instruction mapping dictionary file style

[0072] Command ID Command name equipment Code 1 Code 2 Code 3 Code 4 Remark 10081 SAR Power On 0x11 0x90 0x0C 0x0C 0 10082 SAR power off 0x11 0x91 0x1A 0x1A 0 … 10110 SAR self-test 0x11 0xC1 0x13 0x13 0

[0073] Table 2 Encoder alarm status example

[0074]

[0075] In addition, unless otherwise defined, the technical terms or scientific terms used in the description of this application shall be the common meanings understood by the general technicians in the field to which this application belongs. The words "upper", "lower", "left", "right", "center", "vertical", "horizontal", "inside", "outside" and other words indicating orientation used in the description of this application are only used to indicate the relative direction or positional relationship, and do not imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. When the absolute position of the described object changes, its relative positional relationship may also change accordingly, so it cannot be understood as a limitation on this application. The "first", "second", "third" and similar terms used in the description of this application are only used for descriptive purposes to distinguish different components, and cannot be understood as indicating or implying relative importance. The similar words "one", "one" or "the" used in the description of this application should not be understood as an absolute limitation on quantity, but should be understood as the existence of at least one. The similar words "including" or "comprising" used in the description of this application mean that the elements or objects appearing in front of the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0076] In addition, it should be noted that, unless otherwise clearly specified and limited, the words "installed", "connected", "connected" and similar terms used in the description of this application should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, an indirect connection through an intermediate medium, or the internal connection of two components. Technical personnel in the field can understand their specific meanings in this application according to the specific circumstances.

[0077] The above description is only a specific implementation mode of the present invention and is not intended to limit the present invention. Within the spirit and principle of the present invention, any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the technical solution content of the present invention, any modification, equivalent replacement, improvement, etc. made should be included in the protection scope of the present invention.

Claims

1. A multi-machine adaptive command and control coding terminal for medium and large UAVs, characterized in that: Its hardware includes chassis, power supply, CPU, memory, and network interface; The power supply, central processing unit and memory are installed in the chassis, and external interaction is achieved through a network interface. Its logic processing includes an instruction encoding template, an instruction mapping dictionary, a communication channel, a framing unit, a channel scheduling, a status detection feedback and a cascade management unit; The command coding template stores the uplink remote control frame structure information transmitted to the data link, including synchronization flag, header information, voice data, mission data, flight control data, link data data start bit, and data length parameter information; it can be defined externally and then imported into the terminal; the terminal loads the command coding template at startup to form the uplink remote control frame format and prepare to receive data processing from the framing unit; the command mapping dictionary stores various task command IDs and detailed information, and is also imported into the encoder after being defined externally; With the help of the command mapping dictionary, the external system can realize device control by only using the command ID, shielding the specific command information and ensuring system security; the terminal loads the command mapping dictionary file at startup, caches the basic information of the command, and forms a command hash mapping table for external use, which is used for control access of the external control system; The communication channel is a network channel used to communicate with the data link to transmit uplink remote control frames. Different channels transmit different aircraft or link information. The framing unit encodes the received flight data, mission data, voice data, and link data into the corresponding uplink remote control frames. Channel scheduling is used to set the control aircraft information of the current channel and perform aircraft switching. Status detection feedback means that the terminal monitors the status of the operating seat data frame during operation, and then combines the validity and count statistics of the control frame received within the cycle to determine the status of the specific operating seat and data frame, including the low frequency, overfrequency or abnormality of the data frame, and reports it to the relevant system of the ground station in the form of feedback frames. The cascade management unit is used for the cascaded coordination of the coding terminals. When the command coding terminal receives the uplink remote control data frame sent by other ground station terminals, if its priority mark is higher than that of the current device, it will forward the data of the device. If its priority is low, the device continues to send uplink remote control data.

2. The terminal according to claim 1, characterized in that The instruction encoding template and the instruction mapping dictionary are stored in a storage medium in the form of files; The communication channel is managed by the channel control unit of the communication link; the framing unit receives flight data, mission data, link data, and voice data in the ground station and defines framing according to the instruction coding template.

3. The terminal according to claim 1, characterized in that Status detection feedback is based on the status of various types of data received. Feedback to the sender has informed the sender of the data status.

4. The terminal according to claim 1, characterized in that The command and control coding terminals are interconnected through a cascade management unit to support cascade transmission of commands between coding terminals in different locations.

5. A multi-machine adaptive command and control coding method for medium and large unmanned aerial vehicles, characterized in that: These include: 1) After the terminal is powered on, first find and load the command code template file, which defines the structure information of the uplink remote control frame. 2) The terminal generates uplink remote control frames in full correspondence with the uplink remote control frame format defined in the template file, and sends these uplink remote control frames to the link device at a specific period; and the received flight control data and mission data will be filled into the position specified by the template; the template file can be imported into the encoding terminal after being defined externally; 3) Load the instruction mapping dictionary file, cache the basic information of the instruction, form an instruction hash mapping table for external use, and provide support for external control system access; the instruction mapping dictionary file contains various instruction IDs and detailed information, and is also imported into the encoder after external definition; Through the command mapping dictionary, only the command ID can be used for external systems, thereby shielding specific command information from the outside and ensuring information security; 4) When the flight data frame, mission data frame, voice data frame, and link data frame of the ground station reach the encoding terminal through the network, the terminal first performs a data validity check. If it fails, it will be discarded directly. If it passes, the flag will be extracted and the drone information contained will be determined to determine whether it exists. If not, the drone list will be updated; 5) While receiving data frames in real time, it also performs data frame verification and identification, keeps monitoring the status of the operating seat and control frame, and then combines the validity and counting statistics of the control frames received within the period to determine the working status of the specific operating seat, and monitors the status of flight and mission-related data frames, including low frequency, overfrequency or abnormal conditions of data frames, and reports them to the relevant systems of the ground station in the form of feedback frames, and reports them in red, orange, yellow, green and gray; Extract the data frame content that matches the identifier and encode it to the specified position in the uplink remote control frame according to the encoding template to achieve data encoding for a specific aircraft; 6) When receiving an external data frame, check and determine the flight information contained therein, extract the command ID from the correct data frame, and search the command mapping dictionary to obtain the corresponding specific command information and compile it into the uplink remote control frame; any external control system that needs to access the ground station system uses the command ID as an external interface for data communication; 7) Establish multiple data channels as needed and accept the control and scheduling of the channel manager. The uplink command frames of each aircraft are in the channel. The channel is interconnected with the data link. With the support of a high-precision timer, the uplink remote control frame is sent to the corresponding data link in real time, and then sent to the UAV by the data link.

6. The method according to claim 5, characterized in that The structural information in 1) includes synchronization flag, header information, voice data, mission data, flight control data, and link data, all of which define data start bit and data length parameter information in the template.

7. The method according to claim 5, characterized in that 4), if there is a drone adaptive match, the extracted mark includes important basic information such as operating seat mark, control frame mark, station mark, and control aircraft mark.

8. The method according to claim 5, characterized in that The flight and mission data frames have priority flags, and the encoder is used to preempt or take over data in an emergency. When an operating seat has an abnormality that can seriously affect flight safety, the backup flight or mission control system can be forced to use a high-priority flag to take over. The corresponding control frame contains a high-priority flag, and the command encoding terminal will use the data with a high-priority flag for encoding and discard other similar data, thereby realizing the preemption or takeover of control in an emergency.

9. The method according to claim 5, characterized in that The cascade management unit is used for the cascaded coordination of coding terminals. When the command coding terminal receives an uplink remote control data frame sent by the command coding terminal of another ground station, if its priority mark is higher than that of this device, it forwards the data of the device. If its priority is low, the device continues to send uplink remote control data.

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