Unmanned aerial vehicle command and control system for multi-station multi-vehicle wide-area cooperation

Abstract

The invention discloses an unmanned aerial vehicle command and control system for multi-station multi-vehicle wide-area cooperation. The system comprises N unmanned aerial vehicle groups, a foreground command and control subsystem and a background management subsystem, the unmanned aerial vehicle group comprises an unmanned aerial vehicle ground station and a plurality of unmanned aerial vehicles; the foreground command and control subsystem is in data communication with the background management subsystem and the unmanned aerial vehicle and is used for performing task monitoring, task planning and situation monitoring; and the background management subsystem is in data communication with the unmanned aerial vehicle and the unmanned aerial vehicle ground station and is used for carrying out basic data management and communication network management. According to the method, real-time overall scheduling of the unmanned aerial vehicles in the multi-station and multi-airport scene can be realized.

Description

Technical Field

[0001] The present invention belongs to the field of command and control, and specifically is a UAV command and control system for multi-station and multi-machine wide-area collaboration. Background Art

[0002] With the continuous development of unmanned intelligent technology, unmanned combat, especially UAV combat, has become an indispensable part of modern warfare. At present, medium-altitude and long-flight UAV combat usually organizes equipment deployment with UAV ground stations as units, generally with 1 station and 2-3 machines. This model of UAV ground stations as basic units for mission execution is generally positioned to assist specific manned forces, and often limits the combat radius and combat mission capabilities of UAVs assigned to a fixed area by a single station. On the other hand, as a military equipment, UAVs have the natural combat mobility and flexibility since their birth, and have the potential for deployment and coordinated combat in a wider range.

[0003] Due to the highly informationized foundation of drone combat systems, the bottleneck of aggregating drone groups mainly comes from the command and control system. The existing command and control system is mainly aimed at single ground station combat scenarios, but for multi-ground station-multi-machine collaborative combat scenarios, it lacks the overall coordination of combat resources and the integration of intelligence and situation information. Therefore, it is difficult to aggregate as many drone forces as possible and maximize combat effectiveness to cope with increasingly complex and changing combat needs. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a drone command and control system for multi-station and multi-machine wide-area collaboration, which can realize real-time coordinated scheduling of drones in multi-station and multi-machine scenarios.

[0005] In order to solve the above technical problems, an embodiment of the present invention discloses a drone command and control system for multi-station multi-machine wide-area collaboration, the system comprising N drone groups, a front-end command and control subsystem and a back-end management subsystem; N is an integer greater than 1;

[0006] The drone group includes a drone ground station and a plurality of drones;

[0007] The front-end command subsystem communicates with the back-end management subsystem and the drone data to perform mission monitoring, mission planning and situation monitoring;

[0008] The background management subsystem is in data communication with the UAV and the UAV ground station and is used for basic data management and communication network management.

[0009] As an optional implementation, in an embodiment of the present invention, the foreground control subsystem includes a task monitoring module, a task planning module and a situation monitoring module;

[0010] The task monitoring module includes an end task queue maintenance unit, a new task queue maintenance unit, a cancel task queue maintenance unit and a task display unit;

[0011] The end task queue maintenance unit is in data communication with the task planning module and the background management subsystem to construct an end task queue; the end task queue includes a plurality of end task numbers;

[0012] The newly added task queue maintenance unit is in data communication with the task planning module to construct a newly added task queue; the newly added task queue includes a plurality of task tuples;

[0013] The task tuple includes task instructions, release time, execution status, target information, and task requirement information; the execution status value is executing, ended, or canceled; the target information includes target number, target name, and target coordinates;

[0014] The revocation task queue maintenance unit is in data communication with the task planning module and is used to construct a revocation task queue; the revocation task queue includes a number of task numbers to be revoked;

[0015] The task display unit is in data communication with the task planning module, and is used to link and display the task tuple sequence and the execution resource tree sequence output by the task planning module; the task tuple sequence includes a plurality of the task tuples;

[0016] The execution resource tree sequence includes a plurality of available resource trees; the available resource tree includes a root node, N intermediate nodes and a plurality of leaf nodes; the N intermediate nodes correspond to N UAV ground stations respectively; each leaf node corresponds to one UAV; the leaf nodes are marked as busy, occupied, unavailable or idle;

[0017] The task planning module is in data communication with the drone and the background management subsystem, and is used to perform task planning processing on the available resource tree, the newly added task queue, the revoked task queue and the ended task queue to obtain the task tuple sequence and the execution resource tree sequence;

[0018] The situation monitoring module is in data communication with the background management subsystem and is used to display the situation using the combat environment information and force and equipment information set stored in the background management subsystem.

[0019] As an optional implementation, in the embodiment of the present invention, the background management subsystem includes a basic data management module and a communication network management module;

[0020] The basic data management module includes a basic data storage unit and an equipment information updating unit;

[0021] The basic data storage unit is in data communication with the equipment information updating unit and the front-end command and control subsystem, and is used to store a collection of force equipment information and combat environment information;

[0022] The force and equipment information set includes N force and equipment information; the force and equipment information includes ground station information and a plurality of equipment information; the ground station information includes ground station number, ground station communication address, ground station coordinates and commander information; the equipment information includes drone status information and drone communication address;

[0023] The drone status information includes the drone number, real-time coordinates, mission number, mission status, mission target and capability information; the mission status value is in progress, completed or cancelled;

[0024] The equipment information updating unit is in data communication with the communication management module for updating information;

[0025] The communication management module includes a state information forwarding unit and an available resource tree generating unit;

[0026] The status information forwarding unit is in data communication with the UAV ground station, the UAV, the front-end command and control subsystem and the equipment information updating unit, and is used to forward the UAV status information and the ground station status information; the ground station status information includes the ground station number, the ground station communication address, the ground station coordinates and the commander information;

[0027] The available resource tree generation unit is in data communication with the basic data storage unit and the front-end command and control subsystem, and is used to process the force and equipment information set to obtain an available resource tree.

[0028] As an optional implementation, in an embodiment of the present invention, the end task queue maintenance unit constructs the end task queue, including:

[0029] A1. Initialize the end task queue to an empty queue;

[0030] A2. In response to receiving the drone status information forwarded by the status information forwarding unit, judging whether the value of the task status in the drone status information is ended, and obtaining a first status judgment result;

[0031] When the first state judgment result is yes, the current ending task number is set as the task number T of the drone state information;

[0032] When the first state judgment result is no, executing A5;

[0033] A3, judging whether the value of the execution status of the Tth task tuple in the task tuple sequence is ended, and obtaining a second status judgment result;

[0034] When the second state judgment result is yes, execute A5;

[0035] When the result of the second state judgment is no, the end task queue is updated to obtain the end task queue after the update;

[0036] A4. Setting the execution status of the Tth task tuple in the task tuple sequence to end;

[0037] A5. Repeat A2 to A4 until the end signal from external input is received.

[0038] As an optional implementation manner, in an embodiment of the present invention, the available resource tree generation unit processes the force and equipment information set to obtain an available resource tree, including:

[0039] B1. Create a force organization tree including only one root node; initialize the first loop number mm to 1;

[0040] B2. Create the mmth intermediate node Node 1,mm ; Set the current force equipment information to the mth force equipment information in the force equipment information set; set the communication address of the ground station to be connected to the ground station communication address of the ground station information in the current force equipment information; obtain the communication status of the ground station using the address of the ground station to be connected; the value of the communication status of the ground station is connected or not connected;

[0041] B3, using the communication status of the ground station, 1,mm Perform the first marking process to obtain the intermediate node Node after the first marking 1,mm ; Using the intermediate node Node 1,mm , performing a first update process on the force organization tree to obtain the force organization tree after the first update process;

[0042] B4, determine the total number of current equipment NN, which is the number of equipment information in the current force equipment information; initialize the second loop number nn to 1;

[0043] B5. Create the nth leaf node Node 2,nn; Determine the communication address of the drone to be connected, which is the communication address of the drone of the nth equipment information in the current force equipment information; obtain the communication status of the current drone using the communication address of the drone to be connected; the value of the drone communication status is connected or not connected;

[0044] B6. Using the communication status of the drone, the leaf node Node 2,nn Perform the second marking process to obtain the leaf node Node after the second marking 2,nn ; Using leaf nodes 2,nn , perform a second update process on the force organization tree to obtain the force organization tree after the second update process; add 1 to the value of nn;

[0045] B7. Repeat B5-B6 until nn is greater than NN;

[0046] B8. Repeat B2 to B7 until mm is greater than N;

[0047] B9, determining the available resource tree as the force organization tree;

[0048] B10. Repeat B1 to B9 until the end signal from external input is received.

[0049] As an optional implementation manner, in an embodiment of the present invention, the available resource tree, the newly added task queue, the revoked task queue and the ended task queue are subjected to task planning processing to obtain the task tuple sequence and the execution resource tree sequence, including:

[0050] S1, initializing the task tuple sequence to an empty sequence; initializing the execution resource tree sequence to include only the available resource tree;

[0051] S2, performing resource allocation processing on the newly added task queue, the task tuple sequence and the execution resource tree sequence to obtain a first task tuple sequence and a first resource tree sequence;

[0052] S3, performing resource recovery processing on the revoked task queue, the first task tuple sequence and the first resource tree sequence to obtain a second task tuple sequence and a second resource tree sequence;

[0053] S4, performing resource reallocation processing on the finished task queue, the second task tuple sequence and the second resource tree sequence to obtain a third task tuple sequence and a third resource tree sequence;

[0054] S5, setting the task tuple sequence and the execution resource tree sequence as the third task tuple sequence and the third resource tree sequence respectively;

[0055] S6. Repeat S2 to S5 until an end signal from external input is received.

[0056] As an optional implementation manner, in an embodiment of the present invention, the resource allocation processing is performed on the newly added task queue, the task tuple sequence, and the execution resource tree sequence to obtain a first task tuple sequence and a first resource tree sequence, including:

[0057] S21, judging whether the newly added task queue is empty, and obtaining a first judgment result;

[0058] When the first judgment result is yes, executing S25;

[0059] When the first judgment result is no, the current newly added task tuple is set as the task tuple at the head of the newly added task queue; the newly added task queue is updated to obtain the newly added task queue after the update;

[0060] S22, using the current newly added task tuple, updating the execution resource tree sequence with task allocation, to obtain the execution resource tree sequence after task allocation update;

[0061] S23, using the current newly added task tuple to expand and update the task tuple sequence to obtain the expanded and updated task tuple sequence;

[0062] S24, repeat S21 to S23;

[0063] S25. Determine the first task tuple sequence and the first resource tree sequence, which are the task tuple sequence and the execution resource tree sequence respectively.

[0064] As an optional implementation manner, in an embodiment of the present invention, the use of the current newly added task tuple to update the execution resource tree sequence with task allocation to obtain the execution resource tree sequence after task allocation update includes:

[0065] S221, obtaining the last available resource tree of the execution resource tree sequence to obtain the current resource tree;

[0066] S222, using the newly added task tuple to filter the current resource tree to obtain a filtered resource tree;

[0067] S223, in response to a user operation, performing a third marking process on the screening resource tree to obtain a marked resource tree;

[0068] S224, sending the task instruction in the current newly added task tuple to the drone corresponding to the leaf node marked as occupied in the marked resource tree;

[0069] S225: Insert the marked resource tree to the end of the execution resource tree sequence to obtain the execution resource tree sequence after the task allocation is updated.

[0070] As an optional implementation manner, in an embodiment of the present invention, the revocation task queue, the first task tuple sequence and the first resource tree sequence are subjected to resource recovery processing to obtain a second task tuple sequence and a second resource tree sequence, including:

[0071] S31, judging whether the cancellation task queue is empty, and obtaining a second judgment result;

[0072] When the second judgment result is yes, executing S35;

[0073] When the second judgment result is no, the current to-be-revoked number is set as the to-be-revoked task number q1 at the head of the revoked task queue; the revoked task queue is dequeued and updated to obtain the revoked task queue after dequeuing and updating;

[0074] S32, judging whether the execution status of the q1th task tuple in the first task tuple sequence is ended or in progress, and obtaining a third judgment result;

[0075] When the third judgment result is yes, executing S31;

[0076] When the third judgment result is no, setting the execution state of the q1th task tuple in the first task tuple sequence to cancel;

[0077] S33, using the to-be-revoked resource tree, revoking and updating the first resource tree sequence to obtain the first resource tree sequence after revoking and updating;

[0078] S34, repeat S31 to S33;

[0079] S35. Determine the second task tuple sequence and the second resource tree sequence, which are the first task tuple sequence and the first resource tree sequence respectively.

[0080] As an optional implementation manner, in an embodiment of the present invention, the resource reallocation processing is performed on the end task queue, the second task tuple sequence, and the second resource tree sequence to obtain a third task tuple sequence and a third resource tree sequence, including:

[0081] S41, judging whether the end task queue is empty, and obtaining a fourth judgment result;

[0082] When the fourth judgment result is yes, executing S45;

[0083] When the fourth judgment result is no, the current completion number is set as the to-be-revoked task number q2 at the head of the end task queue; the end task queue is dequeued and updated to obtain the end task queue after dequeuing and updating;

[0084] S42, reallocate and update the second resource tree sequence to obtain the reallocated and updated second resource tree sequence;

[0085] S43, setting the execution state of the q2th task tuple in the second task tuple sequence to end;

[0086] S44, repeat S41 to S43;

[0087] S45. Determine a third task tuple sequence and a third resource tree sequence, which are the second task tuple sequence and the second resource tree sequence respectively.

[0088] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0089] By abstracting drones as resources, and further uniformly representing and allocating multiple drone ground stations and their attached drones through the available resource tree, real-time coordinated scheduling of drones in multi-station and multi-machine scenarios can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0090] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0091] Figure 1 The present invention discloses a structural diagram of a UAV command and control system for multi-station and multi-machine wide-area collaboration.

[0092] Figure 2 The present invention discloses a front-end control subsystem of a multi-station multi-machine wide-area collaborative UAV command and control system.

[0093] Figure 3 It is a structural schematic diagram of a background management subsystem of a multi-station and multi-machine wide-area collaborative unmanned aerial vehicle command and control system disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0094] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0095] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0096] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it 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, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0097] Embodiment 1

[0098] See also Figure 1-3 , Figure 1 The present invention discloses a structural diagram of a UAV command and control system for multi-station and multi-machine wide-area collaboration. Figure 2 The present invention discloses a front-end control subsystem of a multi-station multi-machine wide-area collaborative UAV command and control system. Figure 3 This is a schematic diagram of the structure of a background management subsystem of a multi-station multi-machine wide-area collaborative UAV command and control system disclosed in an embodiment of the present invention. Figure 1-3 The described command and control system for multi-station and multi-machine wide-area collaboration of unmanned aerial vehicles is applied to the command and control field, such as the command and control of unmanned aerial vehicles, and the embodiments of the present invention are not limited thereto.

[0099] like Figure 1 As shown, the system includes N drone groups, a front-end command and control subsystem, and a back-end management subsystem; N is an integer greater than 1;

[0100] The above-mentioned drone group includes a drone ground station and several drones.

[0101] It should be noted that the UAV ground station is an important part of the UAV system. It is responsible for communicating with the UAV in the air, executing flight route planning, monitoring flight status, processing flight data, controlling the takeoff and landing of the UAV, and intervening and taking over control in emergency situations to ensure the smooth execution of the UAV mission and flight safety.

[0102] The above-mentioned front-end command and control subsystem communicates with the back-end management subsystem and drone data for mission monitoring, mission planning and situation monitoring.

[0103] The above-mentioned front-end command and control subsystem communicates with the back-end management subsystem and drone data for mission monitoring, mission planning and situation monitoring.

[0104] It can be seen that through the foreground command and control subsystem and the background management subsystem, the same scheduling of multiple UAV ground stations and their assigned UAVs can be achieved.

[0105] In an optional embodiment, if Figure 2 As shown, the foreground command subsystem includes a task monitoring module, a task planning module and a situation monitoring module.

[0106] The task monitoring module includes a task end queue maintenance unit, a task new queue maintenance unit, a task cancellation queue maintenance unit and a task display unit.

[0107] The above-mentioned end task queue maintenance unit is in data communication with the task planning module and the background management subsystem, and is used to construct an end task queue; the above-mentioned end task queue includes a number of end task numbers.

[0108] The above-mentioned newly added task queue maintenance unit is in data communication with the task planning module and is used to construct a newly added task queue; the above-mentioned newly added task queue includes a number of task tuples.

[0109] The above task tuple includes task instruction, release time, execution status, target information, and task requirement information; the value of the above execution status is executing, ended, or canceled; the above target information includes target number, target name, and target coordinates.

[0110] It should be noted that the above mission instructions are used to send to the UAV and control the UAV to perform corresponding actions, including reconnaissance instructions, strike instructions, interference instructions or communication instructions, corresponding to the four types of actions of reconnaissance, strike, interference and communication. The mission instructions are filled in by the user according to the preset action template. Taking the reconnaissance action as an example, its corresponding action template is shown in Table 1.

[0111] It should be noted that the above-mentioned mission requirement information includes flight time requirement value, range requirement value, take-off weight requirement value, ceiling requirement value, payload configuration requirement list, and weapon configuration requirement list.

[0112] Table 1 Reconnaissance action template

[0113]

[0114]

[0115] It should be noted that the above target coordinates include target accuracy and target latitude. The above target information may also include target type, target height, target structure, target material, target area, target number, importance level and target introduction, which are not limited in the embodiment of the present invention.

[0116] The above-mentioned cancellation task queue maintenance unit is in data communication with the task planning module and is used to construct a cancellation task queue; the above-mentioned cancellation task queue includes a number of task numbers to be cancelled.

[0117] The above-mentioned task display unit is in data communication with the task planning module, and is used to link and display the task tuple sequence and execution resource tree sequence output by the task planning module; the above-mentioned task tuple sequence includes a plurality of task tuples.

[0118] The execution resource tree sequence includes a plurality of available resource trees; the child nodes of the available resource trees are all marked as busy, occupied, unavailable or idle.

[0119] The above-mentioned execution resource tree sequence includes several available resource trees; the above-mentioned available resource tree includes a root node, N intermediate nodes and several leaf nodes; the above-mentioned N intermediate nodes correspond to N UAV ground stations respectively; each leaf node corresponds to 1 UAV; the above-mentioned leaf nodes are all marked as busy, occupied, unavailable or idle.

[0120] It should be noted that the above intermediate nodes are direct child nodes of the root node; the above leaf nodes are direct child nodes of the intermediate nodes; the direct parent node is the leaf node of the same intermediate node, and the corresponding drones belong to the same drone ground station.

[0121] The above-mentioned task planning module communicates with the drone and the background management subsystem data, and is used to perform task planning processing on the available resource tree, the new task queue, the canceled task queue and the ended task queue to obtain the task tuple sequence and the execution resource tree sequence.

[0122] The above situation monitoring module is connected to the background management subsystem data, and is used to display the situation using the combat environment information and force and equipment information set stored in the background management subsystem.

[0123] It can be seen that the end task queue, the new task queue and the cancel task queue are maintained by the independent end task queue maintenance unit, the new task queue and the cancel task queue respectively, so that the three scenarios of task end, new task and cancel task are considered at the same time when scheduling UAV resources. The above three queues and the available resource tree can be processed by the task planning module to complete the coordinated scheduling of UAV resources in three scenarios.

[0124] In yet another optional embodiment, the foreground control subsystem further includes an intelligence monitoring module.

[0125] The above-mentioned intelligence monitoring module includes an intelligence aggregation unit and an intelligence display unit.

[0126] The above-mentioned intelligence aggregation unit is used to receive intelligence information input from the outside and sort it in the order of receiving time to obtain an intelligence information sequence.

[0127] The above intelligence information includes batch number, receiving time, intelligence source, intelligence type, identification, longitude, latitude, altitude, length, width, direction, speed, threat level, annotations and annotators.

[0128] The above-mentioned intelligence display unit is connected to the intelligence aggregation unit data and is used to display the intelligence information sequence.

[0129] In yet another optional embodiment, Figure 3 As shown, the above-mentioned background management subsystem includes a basic data management module and a communication network management module.

[0130] The above basic data management module includes a basic data storage unit and an equipment information updating unit.

[0131] The above-mentioned basic data storage unit is connected with the equipment information update unit and the front-end command and control subsystem data, and is used to store force equipment information sets and combat environment information.

[0132] It should be noted that the above-mentioned combat environment information includes geographic information system vector data, satellite image data, feature identification data, and regional information that requires daily maintenance. The above-mentioned regional information includes regional number, regional name, regional point list, rasterization type and number of blocks.

[0133] The above-mentioned force and equipment information set includes N force and equipment information; the above-mentioned force and equipment information includes ground station information and several equipment information; the above-mentioned ground station information includes ground station number, ground station communication address, ground station coordinates and commander information; the above-mentioned equipment information includes UAV status information and UAV communication address.

[0134] It should be noted that the above-mentioned commander information includes the commander number, commander name, commander rank, commander contact number and the name of the superior commander.

[0135] It should be noted that the above-mentioned UAV strength information includes UAV model, UAV name, assigned ground station number, flight time, range, maximum take-off weight, ceiling, payload configuration list, and weapon configuration list.

[0136] It should be noted that the above-mentioned N force and equipment information correspond to N UAV ground stations respectively; the number of equipment information in each force and equipment information is equal to the number of UAVs assigned to the corresponding UAV ground station, and each assigned UAV corresponds to one equipment information.

[0137] The above-mentioned drone status information includes drone number, real-time coordinates, mission number, mission status, mission target and strength information; the value of the above-mentioned mission status is executing, ended or revoked.

[0138] It should be noted that the above real-time coordinates include the real-time longitude and real-time latitude of the drone.

[0139] It should be noted that the above-mentioned task number is the sequence number of the task tuple corresponding to the task performed by the drone in the task tuple sequence.

[0140] It should be noted that the above-mentioned strength information includes remaining flight time, remaining range, maximum take-off weight, ceiling, payload configuration list, and weapon configuration list.

[0141] It should be noted that the above mission responsibilities belong to the formation leader or wingman. The formation leader is responsible for planning the flight path and speed of the entire formation according to the mission requirements and environmental conditions. The wingman adjusts its own flight status according to the position and speed information of the formation leader to maintain the relative position and formation with the formation leader. When encountering obstacles or changing the flight status, the formation leader needs to make decisions and command the wingman to make corresponding adjustments.

[0142] The equipment information updating unit is in data communication with the communication management module for updating information.

[0143] It should be noted that the above-mentioned information update includes: in response to receiving the drone status information forwarded by the status information forwarding unit, using the drone number therein to search for the corresponding drone status information in the force and equipment information set, and using the received drone status information to replace the corresponding drone status information in the force and equipment information set; in response to receiving the ground station status information forwarded by the status information forwarding unit, using the ground station number therein to search for the corresponding ground station information in the force and equipment information set, and using the received ground station status information to replace the corresponding ground station information in the force and equipment information set;

[0144] The above communication management module includes a state information forwarding unit and an available resource tree generating unit.

[0145] The above-mentioned status information forwarding unit communicates with the UAV ground station, UAV, front-end command and control subsystem and equipment information update unit for data forwarding UAV status information and ground station status information; the above-mentioned ground station status information includes the ground station number, ground station communication address, ground station coordinates and commander information.

[0146] It should be noted that the above-mentioned status information forwarding unit, after receiving the ground station status information sent by the UAV ground station, forwards it to the equipment information update unit in real time, and after receiving the UAV status information sent by the UAV, forwards it to the equipment information update unit and the end task queue maintenance unit of the front-end command subsystem in real time. The above-mentioned real-time forwarding can be sent at intervals of a predetermined sending waiting time, and the sending waiting time can be 1s, which is not limited in the embodiment of the present invention.

[0147] It can be seen that through the status information forwarding unit and the equipment information updating unit, it can ensure that the ground station information and UAV status information in the force and equipment information set are updated in real time, so as to timely reflect the battlefield situation and assist users to reasonably schedule resources.

[0148] The available resource tree generation unit is connected with the basic data storage unit and the front-end command and control subsystem data to process the force and equipment information set to obtain the available resource tree.

[0149] It can be seen that through the available resource tree, the available status of drone resources can be perceived in real time from a global perspective, avoiding the inability to execute tasks due to communication failures and other reasons after some resources are scheduled.

[0150] In yet another optional embodiment, the above-mentioned end task queue maintenance unit constructs the end task queue, including:

[0151] A1. Initialize the end task queue to an empty queue.

[0152] A2. In response to receiving the drone status information forwarded by the status information forwarding unit, judging whether the value of the task status in the drone status information is ended, and obtaining a first status judgment result;

[0153] When the result of the first status judgment is yes, the current ending task number is set as the task number T of the drone status information;

[0154] When the first state judgment result is no, execute A5.

[0155] It should be noted that when each drone finishes its ongoing mission, it sets the mission status in the drone status information to ended and sends it to the background management subsystem, which is then forwarded to the end mission queue maintenance unit of the foreground command and control subsystem via the status information forwarding unit of the background management subsystem to ensure that the mission tuple sequence can be updated in a timely manner and further coordinate the scheduling of the corresponding drones.

[0156] A3. Determine whether the execution status of the Tth task tuple in the task tuple sequence is ended, and obtain a second status determination result;

[0157] When the second state judgment result is yes, execute A5;

[0158] When the result of the second state judgment is no, the end task queue is updated by enqueuing to obtain the end task queue after the enqueuing update.

[0159] It should be noted that the above task tuple sequence is read from the basic data management module.

[0160] A4. Set the execution status of the Tth task tuple in the task tuple sequence to end.

[0161] It should be noted that the above-mentioned use of T to enqueue the completed task queue is to insert T at the end of the newly added task queue.

[0162] A5. Repeat A2 to A4 until the end signal from external input is received.

[0163] It should be noted that the above-mentioned end signal can be a combat stop signal input by the user or received by the superior, and the embodiment of the present invention is not limited to this.

[0164] It can be seen that the above two judgments can avoid receiving the same drone status information multiple times due to communication or other reasons, resulting in the same end task number being placed in the end task queue multiple times, and further causing repeated processing, reducing system work efficiency. Furthermore, when the execution status of the corresponding task tuple in the task tuple sequence is already ended, even if the execution status of the drone status information corresponding to the task tuple received again is still ended, the corresponding task number will not be inserted at the end of the end task queue.

[0165] In another optional embodiment, the newly added task queue maintenance unit constructs a newly added task queue, including:

[0166] A6. Initialize the newly added task queue as an empty queue.

[0167] A7. In response to receiving the task tuple input by the user, insert the task tuple into the end of the newly added task queue to obtain an updated newly added task queue.

[0168] It should be noted that in the task tuple input by the user, the value of the task status is fixed as being executed.

[0169] A8. Repeat A6 to A7 until the end signal from external input is received.

[0170] In yet another optional embodiment, the cancellation task queue maintenance unit constructs the cancellation task queue, including:

[0171] A9. Initialize the undo task queue to an empty queue.

[0172] A10. In response to receiving the to-be-revoked task number input by the user, insert the to-be-revoked task number into the end of the revoked task queue to obtain an updated revoked task queue.

[0173] A11. Repeat A9 to A10 until the end signal from external input is received.

[0174] In yet another optional embodiment, the task display unit, which displays the task tuple sequence and the resource tree sequence output by the background management subsystem in a linked manner, includes:

[0175] A12. In a preset first display area, the task tuple sequence is displayed as a task list; each row of the task list corresponds to a task tuple, and the row number of each row corresponds to the sequence number of the task tuple in the task tuple sequence.

[0176] A13. In response to the user's selection operation on the Lth row in the task list, display the Lth resource tree in the resource tree sequence as a tree diagram in a preset second display area.

[0177] It should be noted that the first display area and the second display area may be rectangular areas on a graphical interface, which is not limited in the embodiment of the present invention.

[0178] Preferably, in the above tree diagram, nodes marked as busy, occupied, unavailable or idle are displayed in different colors.

[0179] In another optional embodiment, the situation monitoring module uses the combat environment information and the force and equipment information set to display the situation, including:

[0180] C1. In the preset third display area, a combat area map is displayed using combat environment information.

[0181] C2. Obtain the ground station coordinates and ground station number of each ground station information in the force and equipment information set in turn; display the preset ground station icon and the corresponding ground station number at the corresponding position of each ground station coordinate on the combat area map.

[0182] C3. Obtain the drone number of each piece of equipment information and the drone coordinates in the corresponding drone status information in the force and equipment information set in sequence; display the preset drone icon and the corresponding drone number at the position corresponding to the drone coordinates on the combat area map.

[0183] C4. Repeat C1 to C3 until the end signal from external input is received.

[0184] It should be noted that the above-mentioned target icons, ground station icons and drone icons are all preset two-dimensional graphics.

[0185] Preferably, in response to the user's selection operation on the ground station icon on the combat area map, the corresponding ground station information or equipment information is displayed in text form in the preset fourth display area.

[0186] Preferably, in response to the user's selection operation of the drone icon on the combat area map, the corresponding equipment information is displayed in text form in the preset fifth display area, and the target icon and the corresponding target number are displayed at the position corresponding to the target coordinates in the corresponding equipment information on the combat area map.

[0187] Preferably, each UAV ground station and UAV sends real-time captured environmental video to the UAV command and control system for multi-station and multi-machine wide-area collaboration; in response to the user's selection of the ground station icon or the UAV icon on the combat area map, the corresponding environmental video is displayed in the preset sixth display area.

[0188] It should be noted that the third display area, the fourth display area, the fifth display area and the sixth display area may be rectangular areas on the graphical interface, which is not limited in the embodiment of the present invention.

[0189] It can be seen that through the situation monitoring module, the locations of N drone ground stations and their assigned drones, related text information and environmental videos can be presented in real time, helping users to reasonably determine the drone resources that need to be dispatched.

[0190] In yet another optional embodiment, the available resource tree generation unit processes the force and equipment information set to obtain an available resource tree, including:

[0191] B1. Create a force organization tree including only one root node; initialize the first loop number mm to 1.

[0192] B2. Create the mmth intermediate node Node 1,mm ; Set the current force and equipment information to the mth force and equipment information in the force and equipment information set; set the communication address of the ground station to be connected to the ground station communication address of the ground station information in the current force and equipment information; use the address of the ground station to be connected to obtain the communication status of the ground station; the value of the communication status of the ground station is connected or not connected.

[0193] B3, using the ground station communication status, the intermediate node Node 1,mm Perform the first marking process to obtain the intermediate node Node after the first marking 1,mm ; Using the intermediate node Node 1,mm , perform a first update process on the force organization tree to obtain the force organization tree after the first update process.

[0194] It should be noted that the first update process is to mark the intermediate node Node 1,mm , set as the direct child node of the root node of the force organization tree.

[0195] B4. Determine the current total number of equipment NN, which is the number of equipment information in the current force equipment information; initialize the second loop number nn to 1.

[0196] B5. Create the nth leaf node Node 2,nn ; Determine the communication address of the drone to be connected, which is the communication address of the drone of the nth equipment information in the current force equipment information; use the communication address of the drone to be connected to obtain the current drone communication status; the value of the drone communication status is connected or not connected.

[0197] B6. Using the drone communication status, the leaf node Node 2,nnPerform the second marking process to obtain the leaf node Node after the second marking 2,nn ; Using leaf nodes 2,nn , perform a second update process on the force organization tree to obtain the force organization tree after the second update process; add 1 to the value of nn.

[0198] It should be noted that the second update process is to mark the leaf node Node 2,nn , set as the middle node of the troop organization tree 1,mm The direct child nodes of .

[0199] B7. Repeat B5 to B6 until nn is greater than NN.

[0200] B8. Repeat B2 to B7 until mm is greater than N.

[0201] B9. Determine the available resource tree as the troop organization tree.

[0202] B10. Repeat B1 to B9 until the end signal from external input is received.

[0203] In yet another optional embodiment, the above-mentioned obtaining the communication status of the ground station by using the address of the ground station to be connected includes:

[0204] B21. Preset request data packet and response data packet.

[0205] It should be noted that the above request data packet and response data packet are a string of binary sequences, which is not limited in the embodiment of the present invention.

[0206] B22. Send a request data packet to the address of the ground station to be connected.

[0207] B23. Wait for the preset response time.

[0208] If a response data packet is received from the address of the ground station to be connected within the response time, the ground station communication status is set to connected.

[0209] If no response data packet is received from the address of the ground station to be connected within the response time, the ground station communication status is set to unconnected.

[0210] Preferably, the above response time is 1 second.

[0211] In yet another optional embodiment, the first marking process includes:

[0212] The value of the ground station communication status is judged to obtain a third status judgment result.

[0213] When the third state judgment result is connected, the intermediate node Node 1,mmMark as free.

[0214] When the third state judgment result is not connected, the intermediate node Node 1,mm Marked as unavailable.

[0215] In another optional embodiment, the above-mentioned using the communication address of the drone to be connected to obtain the current drone communication status includes:

[0216] B51. Send a request data packet to the communication address of the drone to be connected.

[0217] B52. Wait for the preset response time.

[0218] If a response data packet is received from the communication address of the drone to be connected within the response time, the current drone communication status is set to connected.

[0219] If no response data packet is received from the communication address of the drone to be connected within the response time, the current drone communication status is set to unconnected.

[0220] In yet another optional embodiment, the second marking process includes:

[0221] The current drone communication status is judged to obtain the fourth status judgment result:

[0222] When the fourth state judgment result is connected, the leaf node Node 2,nn Mark as free;

[0223] When the fourth state judgment result is not connected, the leaf node Node 2,nn Marked as unavailable.

[0224] In another optional embodiment, the above-mentioned available resource tree, the newly added task queue, the cancelled task queue and the terminated task queue are processed for task planning to obtain a task tuple sequence and an execution resource tree sequence, including:

[0225] S1. Initialize the task tuple sequence to an empty sequence; initialize the execution resource tree sequence to contain only available resource trees.

[0226] S2. Perform resource allocation processing on the newly added task queue, the task tuple sequence, and the execution resource tree sequence to obtain a first task tuple sequence and a first resource tree sequence.

[0227] S3: Perform resource recovery processing on the revoked task queue, the first task tuple sequence and the first resource tree sequence to obtain a second task tuple sequence and a second resource tree sequence.

[0228] S4. Perform resource reallocation processing on the finished task queue, the second task tuple sequence, and the second resource tree sequence to obtain a third task tuple sequence and a third resource tree sequence.

[0229] S5. Set the task tuple sequence and the execution resource tree sequence as a third task tuple sequence and a third resource tree sequence, respectively.

[0230] S6. Repeat S2 to S5 until an end signal from external input is received.

[0231] In yet another optional embodiment, the resource allocation process is performed on the newly added task queue, the task tuple sequence, and the execution resource tree sequence to obtain the first task tuple sequence and the first resource tree sequence, including:

[0232] S21, judging whether the newly added task queue is empty, and obtaining a first judgment result;

[0233] When the first judgment result is yes, execute S25;

[0234] When the first judgment result is no, the current newly added task tuple is set as the task tuple at the head of the newly added task queue; the newly added task queue is dequeued and updated to obtain the newly added task queue after the dequeuing and updating.

[0235] It should be noted that the above dequeue update removes an element from the front of the queue.

[0236] S22. Using the current newly added task tuple, update the execution resource tree sequence with task allocation to obtain the execution resource tree sequence after task allocation update.

[0237] S23. Using the current newly added task tuple, expand and update the task tuple sequence to obtain an expanded and updated task tuple sequence.

[0238] It should be noted that the above expansion and update of the task tuple sequence is to insert the current newly added task tuple into the end of the task tuple sequence.

[0239] S24. Repeat S21 to S23.

[0240] S25 . Determine a first task tuple sequence and a first resource tree sequence, which are a task tuple sequence and an execution resource tree sequence respectively.

[0241] It can be seen that with the help of the newly added task queue, after the user analyzes the content displayed in the situation monitoring module, when a new task is needed, the allocation and scheduling of drone resources can be carried out.

[0242] In another optional embodiment, the above-mentioned use of the current newly added task tuple to update the execution resource tree sequence with task allocation to obtain the execution resource tree sequence after the task allocation is updated includes:

[0243] S221. Acquire the last available resource tree in the execution resource tree sequence to obtain the current resource tree.

[0244] S222: Filter the current resource tree using the newly added task tuple to obtain a filtered resource tree.

[0245] S223. In response to the user operation, perform a third marking process on the screening resource tree to obtain a marked resource tree.

[0246] S224. Send the task instruction in the current newly added task tuple to the drone corresponding to the leaf node marked as occupied in the marked resource tree.

[0247] S225: Insert the marked resource tree to the end of the execution resource tree sequence to obtain the execution resource tree sequence after task allocation is updated.

[0248] In yet another optional embodiment, the above-mentioned filtering process of the current resource tree using the newly added task tuple to obtain the filtered resource tree includes:

[0249] S2221. Re-mark the leaf nodes marked as occupied in the current resource tree as busy, to obtain a first resource tree.

[0250] It should be noted that after S2221 is executed, the leaf nodes in the first resource tree only include three marking indicators: unavailable, idle, and busy.

[0251] S2222, using the newly added task tuple, sequentially perform strength demand judgment on all leaf nodes marked as idle in the first resource tree to obtain an instance demand judgment result;

[0252] When the instance requirement judgment result is yes, the first resource tree remains unchanged;

[0253] When the instance demand judgment result is no, the leaf node marked as idle is re-marked as unavailable.

[0254] S2223: Determine that the filtered resource tree is the first resource tree.

[0255] Optionally, the above-mentioned determination of the strength requirement of the leaf node marked as idle includes:

[0256] Find the UAV corresponding to the leaf node marked as idle, and obtain the idle strength information from the strength information in the corresponding UAV status information in the force and equipment information set; compare the idle strength information with the task requirement information in the newly added task tuple to obtain the instance requirement judgment result.

[0257] It should be noted that the above instance requirement judgment result is yes, which means that the remaining flight time, remaining range, maximum take-off weight, and ceiling in the idle strength information are respectively greater than the flight time requirement value, range requirement value, take-off weight requirement value, and ceiling requirement value of the task requirement information in the task tuple, and the load configuration list and weapon configuration list in the idle strength information respectively include the load configuration requirement list and weapon configuration requirement list of the task requirement information in the task tuple. The instance requirement judgment result is no, which means that when the remaining flight time, remaining range, maximum take-off weight or ceiling in the idle strength information is not greater than the flight time requirement value, range requirement value, take-off weight requirement value or ceiling requirement value of the task requirement information in the task tuple, or the load configuration list or weapon configuration list in the idle strength information respectively includes the load configuration requirement list or weapon configuration requirement list of the task requirement information in the task tuple.

[0258] It should be noted that after S2222 is executed, the nodes in the first resource tree include three tags: idle, busy, and unavailable.

[0259] In yet another optional embodiment, in response to the user operation, performing a third marking process on the screening resource tree to obtain a marked resource tree includes:

[0260] S2231. Display the filtered resource tree in a graphical interface, wherein leaf nodes marked as busy, idle, and unavailable are displayed in three different colors.

[0261] S2232. In response to the user operation, the leaf nodes marked as idle in the screening resource tree are selected, and the selected leaf nodes are re-marked as occupied, so as to obtain a marked resource tree to complete the force allocation for this task.

[0262] It should be noted that the nodes in the tag resource tree include four tags: idle, busy, unavailable and occupied.

[0263] In yet another optional embodiment, the above-mentioned resource recovery process is performed on the revoked task queue, the first task tuple sequence and the first resource tree sequence to obtain the second task tuple sequence and the second resource tree sequence, including:

[0264] S31, judging whether the cancellation task queue is empty, and obtaining a second judgment result;

[0265] When the second judgment result is yes, execute S35;

[0266] When the second judgment result is no, the current to-be-revoked number is set as the to-be-revoked task number q1 at the head of the revocation task queue; the revocation task queue is dequeued and updated to obtain the revocation task queue after the dequeuing and updating.

[0267] S32, judging whether the execution status of the q1th task tuple in the first task tuple sequence is ended or in progress, and obtaining a third judgment result;

[0268] When the third judgment result is yes, it indicates that no cancellation is required, and S31 is executed;

[0269] When the third judgment result is no, the execution state of the q1th task tuple in the first task tuple sequence is set to cancel.

[0270] S33: Use the resource tree to be revoked to perform revocation update on the first resource tree sequence to obtain the first resource tree sequence after revocation update.

[0271] S34. Repeat S31 to S33.

[0272] S35 . Determine a second task tuple sequence and a second resource tree sequence, which are the first task tuple sequence and the first resource tree sequence respectively.

[0273] It can be seen that with the help of the task cancellation queue, when the user judges the content displayed by the situation monitoring module, or receives a task cancellation instruction sent by the superior, when a task needs to be canceled, the executing task can be canceled and the drone resources therein can be recovered, and the cancellation of the task and its subsequent tasks, all corresponding task tuples and available resource trees can be reflected in time, so that the recovered drone resources can be used by the subsequent newly added task scheduling.

[0274] In yet another optional embodiment, the above-mentioned undoing and updating of the first resource tree sequence includes:

[0275] S331. Set the revocation update number L1 to q1.

[0276] S332, judging the value of q1;

[0277] When q1 is not less than the length of the first resource tree sequence, execute S336;

[0278] When q1 is less than the length of the first resource tree sequence, S333 is executed.

[0279] S333, traversing the leaf nodes of the q1th available resource tree in the first resource tree sequence, and judging the visited leaf nodes during each traversal;

[0280] When the visited leaf node is marked as occupied, and the leaf node corresponding to the visited leaf node in the q1+1th available resource tree of the first resource tree sequence is not marked as occupied, marking the corresponding node of the q1+1th available resource tree of the first resource tree sequence as free;

[0281] When the visited leaf node is not marked as occupied, or the leaf node corresponding to the visited leaf node in the q1+1th available resource tree of the first resource tree sequence is marked as occupied, the q1+1th available resource tree of the first resource tree sequence remains unchanged.

[0282] S334. Add 1 to the value of q1.

[0283] S335. Repeat S332 to S334.

[0284] S336: Mark all leaf nodes marked as occupied in the L1th available resource tree of the first resource tree sequence as free.

[0285] In yet another optional embodiment, the above-mentioned resource reallocation processing is performed on the end task queue, the second task tuple sequence, and the second resource tree sequence to obtain a third task tuple sequence and a third resource tree sequence, including:

[0286] S41, judging whether the end task queue is empty, and obtaining a fourth judgment result;

[0287] When the fourth determination result is yes, execute S45;

[0288] When the fourth judgment result is no, the current completion number is set as the to-be-revoked task number q2 at the head of the end task queue; the end task queue is dequeued and updated to obtain the end task queue after dequeuing and updating.

[0289] S42: Reallocate and update the second resource tree sequence to obtain a reallocated and updated second resource tree sequence.

[0290] S43: Set the execution status of the q2th task tuple in the second task tuple sequence to end.

[0291] S44. Repeat S41 to S43.

[0292] S45 . Determine a third task tuple sequence and a third resource tree sequence, which are the second task tuple sequence and the second resource tree sequence respectively.

[0293] In yet another optional embodiment, the above-mentioned reallocation update includes:

[0294] S431, judging the value of q2;

[0295] When q2 is not less than the length of the second resource tree sequence, executing S44;

[0296] When q2 is less than the length of the second resource tree sequence, S432 is executed.

[0297] S432, traversing the leaf nodes of the q2th available resource tree in the second resource tree sequence, and judging the visited leaf nodes during each traversal;

[0298] When the visited leaf node is marked as busy, and the leaf node corresponding to the visited leaf node in the q2+1th available resource tree of the second resource tree sequence is not marked as occupied, marking the corresponding node of the q2+1th available resource tree of the second resource tree sequence as free;

[0299] When the visited leaf node is not marked as busy, or the leaf node corresponding to the visited leaf node in the q2+1th available resource tree of the second resource tree sequence is marked as occupied, the q2+1th available resource tree of the second resource tree sequence remains unchanged.

[0300] S433. Add 1 to the value of q2.

[0301] S434. Repeat S431 to S433.

[0302] It can be seen that the drone command and control system for multi-station and multi-machine wide-area collaboration described in the embodiment of the present invention can realize the coordinated scheduling of drones in multi-station and multi-machine scenarios by uniformly abstracting drones as resources, and further uniformly representing and allocating the use of multiple drone ground stations and their assigned drones through an available resource tree.

[0303] Embodiment 2

[0304] An embodiment of the present invention discloses a computer-readable storage medium, which includes a drone command and control system for multi-station multi-machine wide-area collaboration as in Embodiment 1. It should be noted that for a detailed description of the drone command and control system for multi-station multi-machine wide-area collaboration, please refer to the specific description of the relevant content in Embodiment 1, which will not be repeated in this embodiment.

[0305] Embodiment 3

[0306] An electronic device disclosed in an embodiment of the present invention includes a drone command and control system for multi-station multi-machine wide-area collaboration as in Embodiment 1. It should be noted that for a detailed description of the drone command and control system for multi-station multi-machine wide-area collaboration, please refer to the specific description of the relevant content in Embodiment 1, which will not be repeated in this embodiment.

[0307] The device embodiments described above are only illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, i.e., they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0308] Through the specific description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution can be essentially or partly contributed to the prior art in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, a magnetic disk storage, a magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0309] Finally, it should be noted that the unmanned aerial vehicle command and control system for multi-station and multi-machine wide-area collaboration disclosed in the embodiment of the present invention only discloses a preferred embodiment of the present invention, which is only used to illustrate the technical solution of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that it is still possible to modify the technical solutions recorded in the aforementioned embodiments, or to replace some of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A UAV command and control system for multi-station and multi-machine wide-area collaboration, characterized in that: It includes N drone groups, a front-end command and control subsystem, and a back-end management subsystem; N is an integer greater than 1; The drone group includes a drone ground station and a plurality of drones; The front-end command subsystem communicates with the back-end management subsystem and the drone data to perform mission monitoring, mission planning and situation monitoring; The background management subsystem is in data communication with the UAV and the UAV ground station and is used for basic data management and communication network management.

2. The UAV command and control system for multi-station and multi-machine wide-area collaboration according to claim 1 is characterized in that: The front-end control subsystem includes a task monitoring module, a task planning module and a situation monitoring module; The task monitoring module includes an end task queue maintenance unit, a new task queue maintenance unit, a cancel task queue maintenance unit and a task display unit; The end task queue maintenance unit is in data communication with the task planning module and the background management subsystem to construct an end task queue; the end task queue includes a plurality of end task numbers; The newly added task queue maintenance unit is in data communication with the task planning module to construct a newly added task queue; the newly added task queue includes a plurality of task tuples; The task tuple includes task instructions, release time, execution status, target information, and task requirement information; the execution status value is executing, ended, or canceled; the target information includes target number, target name, and target coordinates; The revocation task queue maintenance unit is in data communication with the task planning module and is used to construct a revocation task queue; the revocation task queue includes a number of task numbers to be revoked; The task display unit is in data communication with the task planning module, and is used to link and display the task tuple sequence and the execution resource tree sequence output by the task planning module; the task tuple sequence includes a plurality of the task tuples; The execution resource tree sequence includes a plurality of available resource trees; the available resource tree includes a root node, N intermediate nodes and a plurality of leaf nodes; the N intermediate nodes correspond to N UAV ground stations respectively; each leaf node corresponds to one UAV; the leaf nodes are marked as busy, occupied, unavailable or idle; The task planning module is in data communication with the drone and the background management subsystem, and is used to perform task planning processing on the available resource tree, the newly added task queue, the revoked task queue and the ended task queue to obtain the task tuple sequence and the execution resource tree sequence; The situation monitoring module is in data communication with the background management subsystem and is used to display the situation using the combat environment information and force and equipment information set stored in the background management subsystem.

3. The UAV command and control system for multi-station and multi-machine wide-area collaboration according to claim 2 is characterized in that: The background management subsystem includes a basic data management module and a communication network management module; The basic data management module includes a basic data storage unit and an equipment information updating unit; The basic data storage unit is in data communication with the equipment information updating unit and the front-end command and control subsystem, and is used to store a collection of force equipment information and combat environment information; The force and equipment information set includes N force and equipment information; the force and equipment information includes ground station information and a plurality of equipment information; the ground station information includes ground station number, ground station communication address, ground station coordinates and commander information; the equipment information includes drone status information and drone communication address; The drone status information includes the drone number, real-time coordinates, mission number, mission status, mission target and capability information; the mission status value is in progress, completed or revoked; The equipment information updating unit is in data communication with the communication management module for updating information; The communication management module includes a state information forwarding unit and an available resource tree generating unit; The status information forwarding unit is in data communication with the UAV ground station, the UAV, the front-end command and control subsystem and the equipment information updating unit, and is used to forward the UAV status information and the ground station status information; The ground station status information includes the ground station number, ground station communication address, ground station coordinates and commander information; The available resource tree generation unit is in data communication with the basic data storage unit and the front-end command and control subsystem, and is used to process the force and equipment information set to obtain an available resource tree.

4. The UAV command and control system for multi-station and multi-machine wide-area collaboration according to claim 3 is characterized in that: The end task queue maintenance unit constructs an end task queue, including: A1. Initialize the end task queue to an empty queue; A2. In response to receiving the drone status information forwarded by the status information forwarding unit, judging whether the value of the task status in the drone status information is ended, and obtaining a first status judgment result; When the first state judgment result is yes, the current ending task number is set as the task number T of the drone state information; When the first state judgment result is no, executing A5; A3, judging whether the value of the execution status of the Tth task tuple in the task tuple sequence is ended, and obtaining a second status judgment result; When the second state judgment result is yes, execute A5; When the result of the second state judgment is no, the end task queue is updated to obtain the end task queue after the update; A4. Setting the execution status of the Tth task tuple in the task tuple sequence to end; A5. Repeat A2 to A4 until the end signal from external input is received.

5. The UAV command and control system for multi-station and multi-machine wide-area collaboration according to claim 3 is characterized in that: The available resource tree generation unit processes the force and equipment information set to obtain an available resource tree, including: B1. Create a force organization tree including only one root node; initialize the first loop number mm to 1; B2. Create the mmth intermediate node Node 1,mm ; Set the current force equipment information to the mth force equipment information in the force equipment information set; set the communication address of the ground station to be connected to the ground station communication address of the ground station information in the current force equipment information; obtain the communication status of the ground station using the address of the ground station to be connected; the value of the communication status of the ground station is connected or not connected; B3, using the communication status of the ground station, 1,mm Perform the first marking process to obtain the intermediate node Node after the first marking 1,mm ; Using the intermediate node Node 1,mm , performing a first update process on the force organization tree to obtain the force organization tree after the first update process; B4, determine the total number of current equipment NN, which is the number of equipment information in the current force equipment information; initialize the second loop number nn to 1; B5. Create the nth leaf node Node 2,nn ; Determine the communication address of the drone to be connected, which is the communication address of the drone of the nth equipment information in the current force equipment information; obtain the communication status of the current drone using the communication address of the drone to be connected; the value of the drone communication status is connected or not connected; B6. Using the communication status of the drone, the leaf node Node 2,nn Perform the second marking process to obtain the leaf node Node after the second marking 2,nn ; Using leaf nodes 2,nn , perform a second update process on the force organization tree to obtain the force organization tree after the second update process; add 1 to the value of nn; B7. Repeat B5-B6 until nn is greater than NN; B8. Repeat B2 to B7 until mm is greater than N; B9, determining the available resource tree as the force organization tree; B10. Repeat B1 to B9 until the end signal from external input is received.

6. The UAV command and control system for multi-station and multi-machine wide-area collaboration according to claim 2 is characterized in that: The step of performing task planning processing on the available resource tree, the newly added task queue, the canceled task queue and the ended task queue to obtain the task tuple sequence and the execution resource tree sequence includes: S1, initializing the task tuple sequence to an empty sequence; initializing the execution resource tree sequence to include only the available resource tree; S2, performing resource allocation processing on the newly added task queue, the task tuple sequence and the execution resource tree sequence to obtain a first task tuple sequence and a first resource tree sequence; S3, performing resource recovery processing on the revoked task queue, the first task tuple sequence and the first resource tree sequence to obtain a second task tuple sequence and a second resource tree sequence; S4, performing resource reallocation processing on the finished task queue, the second task tuple sequence and the second resource tree sequence to obtain a third task tuple sequence and a third resource tree sequence; S5, setting the task tuple sequence and the execution resource tree sequence as the third task tuple sequence and the third resource tree sequence respectively; S6. Repeat S2 to S5 until an end signal from external input is received.

7. The UAV command and control system for multi-station and multi-machine wide-area collaboration according to claim 6 is characterized in that: The performing resource allocation processing on the newly added task queue, the task tuple sequence and the execution resource tree sequence to obtain a first task tuple sequence and a first resource tree sequence includes: S21, judging whether the newly added task queue is empty, and obtaining a first judgment result; When the first judgment result is yes, executing S25; When the first judgment result is no, the current newly added task tuple is set as the task tuple at the head of the newly added task queue; the newly added task queue is updated to obtain the newly added task queue after the update; S22, using the current newly added task tuple, updating the execution resource tree sequence with task allocation, to obtain the execution resource tree sequence after task allocation update; S23, using the current newly added task tuple to expand and update the task tuple sequence to obtain the expanded and updated task tuple sequence; S24, repeat S21 to S23; S25. Determine the first task tuple sequence and the first resource tree sequence, which are the task tuple sequence and the execution resource tree sequence respectively.

8. The UAV command and control system for multi-station and multi-machine wide-area collaboration according to claim 7 is characterized in that: The step of performing task allocation update on the execution resource tree sequence by using the current newly added task tuple to obtain the execution resource tree sequence after task allocation update comprises: S221, obtaining the last available resource tree of the execution resource tree sequence to obtain the current resource tree; S222, using the newly added task tuple to filter the current resource tree to obtain a filtered resource tree; S223, in response to a user operation, performing a third marking process on the screening resource tree to obtain a marked resource tree; S224, sending the task instruction in the current newly added task tuple to the drone corresponding to the leaf node marked as occupied in the marked resource tree; S225: Insert the marked resource tree to the end of the execution resource tree sequence to obtain the execution resource tree sequence after the task allocation is updated.

9. The UAV command and control system for multi-station and multi-machine wide-area collaboration according to claim 6 is characterized in that: The performing resource recovery processing on the revoked task queue, the first task tuple sequence and the first resource tree sequence to obtain a second task tuple sequence and a second resource tree sequence includes: S31, judging whether the cancellation task queue is empty, and obtaining a second judgment result; When the second judgment result is yes, executing S35; When the second judgment result is no, the current to-be-revoked number is set as the to-be-revoked task number q1 at the head of the revoked task queue; the revoked task queue is dequeued and updated to obtain the revoked task queue after dequeuing and updating; S32, judging whether the execution status of the q1th task tuple in the first task tuple sequence is ended or in progress, and obtaining a third judgment result; When the third judgment result is yes, executing S31; When the third judgment result is no, setting the execution state of the q1th task tuple in the first task tuple sequence to cancel; S33, using the to-be-revoked resource tree, revoking and updating the first resource tree sequence to obtain the first resource tree sequence after revoking and updating; S34, repeat S31 to S33; S35. Determine the second task tuple sequence and the second resource tree sequence, which are the first task tuple sequence and the first resource tree sequence respectively.

10. The UAV command and control system for multi-station and multi-machine wide-area collaboration according to claim 6 is characterized in that: The performing resource reallocation processing on the finished task queue, the second task tuple sequence and the second resource tree sequence to obtain a third task tuple sequence and a third resource tree sequence includes: S41, judging whether the end task queue is empty, and obtaining a fourth judgment result; When the fourth judgment result is yes, executing S45; When the fourth judgment result is no, the current completion number is set as the to-be-revoked task number q2 at the head of the end task queue; the end task queue is dequeued and updated to obtain the end task queue after dequeuing and updating; S42, reallocate and update the second resource tree sequence to obtain the reallocated and updated second resource tree sequence; S43, setting the execution state of the q2th task tuple in the second task tuple sequence to end; S44, repeat S41 to S43; S45. Determine a third task tuple sequence and a third resource tree sequence, which are the second task tuple sequence and the second resource tree sequence respectively.

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