A method and system for controlling the flight state of a drone

Abstract

The application relates to the technical field of wireless communication, and discloses a kind of unmanned plane flight state control method and system, comprising the following steps: S1: establish the TCP connection between unmanned plane and ground control station;S2: in the side of unmanned plane, the real-time flight state information of unmanned plane is sent to ground control station in the form of message frame through mobile network;S3: in the side of ground control station, the message frame sent by unmanned plane and the control command sent by unmanned plane remote controller are analyzed using PID algorithm and Mahony complementary filtering algorithm, generate the flight state control information of unmanned plane, and the flight state control information is sent to unmanned plane in the form of message frame through mobile network;S4: in the side of unmanned plane, the flight state of unmanned plane is controlled according to the message frame sent by ground control station.The application can realize the remote control of the flight state of unmanned plane and the consistent signal is easy to be disturbed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wireless communication, in particular to a UAV flight state control method and system. BACKGROUND

[0002] In recent years, UAVs are widely used in various industries and aspects such as safety inspection and information collection due to their small size, flexible flight and precise control. The UAV mobile communication control technology has also developed rapidly. However, the current UAV mobile communication control technology is not perfect, and has the characteristics of poor channel characteristics, many environmental interference factors, few spectrum resources, and high management level, which leads to the problems of short control distance of UAV and easy interference of control signal.

[0003] Therefore, the present application is proposed. SUMMARY

[0004] The purpose of the present application is to provide a UAV flight state control method and system, which solves the problem of short control distance of UAV and easy interference of control signal in the existing UAV mobile communication technology.

[0005] The present application is realized by the following technical scheme:

[0006] On the one hand, a UAV flight state control method is provided, comprising the following steps: S1: establishing a TCP connection between the UAV and the ground control station; S2: on the UAV side, sending the real-time flight state information of the UAV to the ground control station in the form of a message frame through a mobile network; S3: on the ground control station side, analyzing the message frame sent by the UAV and the control command sent by the UAV remote controller using PID algorithm and Mahony complementary filtering algorithm, generating flight state control information of the UAV, and sending the flight state control information to the UAV in the form of a message frame through a mobile network; S4: on the UAV side, controlling the flight state of the UAV according to the message frame sent by the ground control station.

[0007] Further, in S2, the real-time flight state information of the UAV includes flight attitude information of the UAV, flight position information of the UAV and peripheral device information of the UAV; wherein the flight attitude information of the UAV includes rotor speed, rotor direction, rotor angle and flight speed, the flight position information of the UAV includes longitude, latitude and flight height, and the peripheral device information of the UAV includes battery power and camera parameters; in S3, the flight state control information of the UAV includes flight route control information of the UAV and flight attitude control information of the UAV; wherein the flight route control information of the UAV includes the number of multiple target positions in the flight route, the number of each target position and the longitude, latitude and height of each target position, and the flight attitude control information of the UAV includes expected rotor speed, expected rotor direction and expected rotor angle during the flight from the current position to the next target position.

[0008] Further, in the flight attitude control information of the UAV, the expected rotor direction includes that the rotors on one group of diagonal lines rotate in a clockwise direction and the rotors on another group of diagonal lines rotate in a counterclockwise direction.

[0009] Further, in S2, the real-time flight state information of the UAV is sent to the ground control station in the form of a message frame through a mobile network, including the following steps: S21: encapsulating the flight state information of the UAV, the flight position information of the UAV and the peripheral device information of the UAV into data packets of a message frame data structure respectively; S22: sending each encapsulated data packet to the ground control station through a mobile network; in S3, the flight state control information is sent to the UAV in the form of a message frame through a mobile network, including the following steps: S31: encapsulating the flight attitude control information of the UAV and the flight route control information of the UAV into data packets of a message frame data structure respectively; S32: sending each encapsulated data packet to the ground control station through a mobile network.

[0010] Further, the method for encapsulating data packets into a message frame data structure is as follows: establishing a message frame data structure; the message frame data structure includes a start flag field, a message frame serial number field, a message ID field, a data field, a check field and a message length field; packing data by using a packing function; extracting the message frame data structure, and writing the start flag, the data packet serial number and the message ID into the message frame data structure, and increasing the data packet serial number by 1; writing data into the message frame structure; calculating a CRC verification code and writing the CRC verification code into the message frame structure; calculating the total length of the message frame, and writing the total length into the message frame structure to obtain a data packet of the message frame data structure.

[0011] Further, in S3, the PID control model comprises: a first angle loop PID controller, a second angle loop PID controller and a rotor angular velocity sensor connected in series; the first angle loop PID controller is configured to receive the expected angle, and obtain an expected angular velocity according to the expected angle; the second angle loop PID controller is configured to generate a PWM signal according to the expected angular velocity; the rotor angular velocity sensor is configured to obtain a current angle of the rotor and a current angular velocity of the rotor under the driving of the PWM signal, and feed back the current angle of the rotor to the first angle loop PID controller and feed back the current angular velocity of the rotor to the second angle loop PID controller; the first angle loop PID controller is further configured to determine whether the current angular velocity of the rotor is the same as the expected angle, and if not, update the expected angle; the second angle loop PID controller is further configured to determine whether the current angular velocity of the rotor is the same as the expected angular velocity, and if not, update the PWM signal.

[0012] Further, in S3, the PID algorithm and the Mahony complementary filtering algorithm are used to analyze the message frame sent by the unmanned aerial vehicle and the control command sent by the remote controller of the unmanned aerial vehicle, including the following steps: the PID algorithm is used to obtain the expected rotor speed and the expected rotor angle of the unmanned aerial vehicle; the Mahony complementary filtering algorithm is used to generate a high-pass filter signal for low-frequency noise filtering of the gyroscope and a low-pass filter signal for high-frequency noise filtering of the rotor rotation acceleration.

[0013] Further, S2 further comprises the following steps: sending the identity information of the unmanned aerial vehicle to the ground control station in the form of a message frame through a mobile network; S3 further comprises the following steps: analyzing the identity information sent by the unmanned aerial vehicle, and generating flight restricted area control information, and sending the flight restricted area control information to the unmanned aerial vehicle in the form of a message frame through a mobile network; S4 further comprises the following steps: sending the control signal response information to the ground control station in the form of a message frame through a mobile network.

[0014] Further, the flight restricted area control information comprises the number of a plurality of target positions in a flight route, the number of each target position, the latitude and longitude of each target position, a flight restricted area flag and a flight restricted area radius.

[0015] On the other hand, an unmanned aerial vehicle flight state control system is provided, comprising a flight state sensing module, an unmanned aerial vehicle communication module and a flight control module installed on the unmanned aerial vehicle, and a data analysis module and a client communication module installed on the ground control station.

[0016] Wherein, the unmanned aerial vehicle and the ground control station have a TCP connection; the flight state sensing module is used for sending flight state information to the unmanned aerial vehicle communication module in real time; the unmanned aerial vehicle communication module is used for encoding the flight state information, and sending the encoded information to the client communication module in the form of a message frame through a mobile network; the client communication module is used for decoding the message frame sent by the unmanned aerial vehicle communication module, and receiving the control command sent by the remote controller; the data analysis module is used for analyzing the control command and the information decoded by the client communication module by using a PID algorithm and a Mahony complementary filtering algorithm, and generating an unmanned aerial vehicle flight control command; the client communication module is also used for encoding the unmanned aerial vehicle flight control command, and sending the encoded information to the unmanned aerial vehicle communication module in the form of a message frame through a mobile network; the unmanned aerial vehicle communication module is also used for decoding the message frame sent by the client communication module; and the flight control module is also used for controlling the flight state of the unmanned aerial vehicle according to the information decoded by the unmanned aerial vehicle communication module.

[0017] Further, the unmanned aerial vehicle flight state control system further comprises an identity verification module installed on the ground control station, the identity verification module is used for verifying the identity legality of the unmanned aerial vehicle; a GPS positioning module and a warning module installed on the unmanned aerial vehicle; the GPS positioning module is used for positioning the current position, the target flight position and the center position of the no-fly area of the unmanned aerial vehicle; and the warning module is used for generating a warning signal when the unmanned aerial vehicle approaches the no-fly area.

[0018] Compared with the prior art, the present application has the following advantages and beneficial effects:

[0019] 1. The message frame data structure for data interaction between the unmanned aerial vehicle and the ground station is defined, the interactive data is packaged by using the message frame data structure, so that the information can be completely transmitted and received, and the interference of the unmanned aerial vehicle control information in the transmission process is reduced. Moreover, the packaged data is transmitted by using a mobile network, so that the unmanned aerial vehicle does not need to carry a microwave receiver, and the risk that the unmanned aerial vehicle is hijacked by using a traditional microwave receiving signal is fundamentally avoided; and through the mobile network communication, the IP address of the unmanned aerial vehicle is dynamically allocated, has a certain unpredictability, can effectively avoid network attacks on the unmanned aerial vehicle, and can further ensure the communication security; in addition, the mobile network is used to transmit the unmanned aerial vehicle control signal transmission, so that the transmission distance of the signal can be greatly increased, and the flight state of the unmanned aerial vehicle is remotely and mobilely controlled.

[0020] 2. The data structure of the message frame is expandable and modifiable, and the flexibility and diversity of the unmanned aerial vehicle control information are increased. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be considered as a limitation to the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor.

[0022] Figure 1 A flowchart of a UAV flight state control method provided for the embodiment 1 of the present application is shown in the figure.

[0023] Figure 2 A flowchart of a method for encapsulating information into a data packet of an information frame data structure provided for the embodiment 1 of the present application is shown in the figure.

[0024] Figure 3 A structural diagram of a UAV flight state control system provided for the embodiment 2 of the present application is shown in the figure.

[0025] The marks in the figures and the corresponding names of the parts are as follows:

[0026] 11 - flight state sensing module, 12 - UAV communication module, 13 - flight control module, 14 - GPS positioning module, 15 - early warning module, 21 - data analysis module, 22 - client communication module, 23 - identity verification module. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the present application more clear and understandable, the following will further describe the present application in combination with the embodiments and the drawings, the exemplary embodiments of the present application and the description thereof are only used to explain the present application, and should not be considered as a limitation to the present application.

[0028] Embodiment 1

[0029] As shown in the figure, the UAV flight state control method provided in the present embodiment mainly includes the following four steps: Figure 1

[0030] Step 1: Establish the TCP connection between the UAV and the ground control station.

[0031] Since the signal strength and reliability of mobile network in different regions are quite different, in order to realize the transmission of UAV control signal through mobile network and meet the transmission layer protocol, the TCP protocol between the UAV and the ground control station is established in the present embodiment to meet the mobile communication requirements between the UAV and the ground control station. Of course, the UDP protocol between the UAV and the ground control station can also be established to meet different transmission layer protocols.

[0032] ​Step 2: On one side of the UAV, the real-time flight state information of the UAV is sent to the ground control station in the form of a message frame through a mobile network.

[0033] The real-time flight state information of the UAV includes flight attitude information of the UAV, flight position information of the UAV, and peripheral device information of the UAV. Further, the flight attitude information of the UAV includes rotor speed, rotor direction, rotor angle, and flight speed; the flight position information of the UAV includes longitude, latitude, and flight height, and the peripheral device information of the UAV includes battery power and camera parameters.

[0034] It should be noted that: on the one hand, the rotor speed, rotor direction, and rotor angle of the UAV are important factors for the UAV to achieve flexible flight. By changing the rotor speed, rotor direction, and rotor angle of the UAV, the UAV can be controlled to perform flight actions such as hovering, ascending, descending, accelerating, and turning, so the above variables related to the rotor are sent to the ground control station as the flight state information of the UAV. On the other hand, the longitude, latitude, and flight height of the UAV can accurately position the UAV. By obtaining the accurate position information of the UAV, the flight path of the UAV can be controlled. On the other hand, the battery power of the UAV is an important factor to be considered when the UAV performs a task. When the power is insufficient, the flight task of the UAV should be changed in time (i.e., recalled) to avoid the risk of crashing. In addition, when the UAV performs a task, the camera parameters and environmental factors are important factors affecting the task execution result. By obtaining the camera parameters, the camera parameters can be flexibly adjusted according to the flight state, position, and current environment of the UAV, thereby improving the quality of task completion.

[0035] Next, the transmission method of the real-time flight state information of the UAV is described.

[0036] The real-time flight state information of the UAV is transmitted in the form of a message frame. First, the flight state information of the UAV, the flight position information of the UAV, and the peripheral device information of the UAV are respectively encapsulated into a data packet of a message frame data structure. Specifically, the method for encapsulating the real-time flight state information of the UAV into a data packet of a message frame data structure is as shown in Figure 2 The method includes the following steps:

[0037] S1: Establish a message frame data structure. The message frame data structure is divided into 6 fields, namely a start flag field, a message frame sequence number field, a message ID field, a data field, a check field and a message length field. Among them, the start flag, the message frame sequence number, the message ID and the message length field are all int8_t type, occupying 1 Byte. The representation range of the message frame sequence number field is [0, 155], which is increased cyclically when sending the message frame, so as to ensure that the message frame is received in sequence and the packet loss rate is calculated at the same time, and the number of the message frame is indicated when responding. The message ID field is used to indicate the decoding method of the data field. In view of the problem that the transmission parameters required for different messages differ greatly, the message frame is in the form of variable length, and the message length field is added to ensure the complete reception of the message frame. The length of each message frame ranges from 6 Bytes to 261 Bytes. Finally, 2 Byte check bits are added at the end of the message frame to ensure the correctness of the message frame.

[0038] S2: Pack the data using the packing function. The flight state information of the unmanned aerial vehicle, the flight position information of the unmanned aerial vehicle and the peripheral device information of the unmanned aerial vehicle can be packed by using the python packing function.

[0039] S3: Extract the message frame data structure established in S1, write the start flag, data packet sequence number and message ID into the message frame data structure, and add 1 to the data packet sequence number.

[0040] S4: Write the specific data content into the message frame structure.

[0041] S5: Calculate the CRC verification code and write the CRC verification code into the message frame structure.

[0042] S6: Calculate the total length of the message frame, write the total length into the message frame structure, and obtain the data packet of the message frame data structure.

[0043] Then, each packaged data packet is sent to the ground control station through the mobile network.

[0044] It should be noted that if the flight state information of the unmanned aerial vehicle exceeds the upper limit of a single message frame, the frame transmission mode is used to send the ground control station.

[0045] Step 3: On the ground control station side, the PID algorithm and Mahony complementary filtering algorithm are used to analyze the message frame sent by the unmanned aerial vehicle and the control command sent by the unmanned aerial vehicle remote controller, generate the flight state control information of the unmanned aerial vehicle, and send the flight state control information to the unmanned aerial vehicle in the form of a message frame through the mobile network.

[0046] The embodiment adopts a PID algorithm to solve the received unmanned aerial vehicle flight state signal and outputs control information for controlling the unmanned aerial vehicle rotor speed and unmanned aerial vehicle rotor angle, so as to realize the accuracy, stability and rapidity of unmanned aerial vehicle control information and enhance the anti-interference capability. The PID controller controls the unmanned aerial vehicle rotor by the proportion P, integral I and differential D of the deviation. Here, the integral or differential is the integral or differential of the deviation with respect to time, P and I are used to improve the steady-state accuracy, D is used to improve the system stability, and P and D are used to improve the response speed. On the other hand, the Mahony complementary filter algorithm of the embodiment generates a high-pass filter signal for filtering low-frequency noise of the gyroscope and a low-pass filter signal for filtering high-frequency noise of the rotor rotation acceleration. The complementary filter requires that the interference noise of the two signals is at different frequencies, and by setting the cutoff frequencies of the two filters, it is ensured that the fused signal can cover the required frequency. In the attitude estimation of the IMU, the complementary filter uses high-pass filtering for the gyroscope (low-frequency noise) and low-pass filtering for the acceleration (high-frequency noise).

[0047] The generated unmanned aerial vehicle flight state control information includes unmanned aerial vehicle flight route control information and unmanned aerial vehicle flight attitude control information. The unmanned aerial vehicle flight route control information includes the number of target positions in the flight route, the number of each target position, and the latitude, longitude and height of each target position. The unmanned aerial vehicle flight attitude control information includes the expected rotor speed, expected rotor steering and expected rotor angle during the flight from the current position to the next target position.

[0048] It should be further pointed out that the direct reason for the change of the unmanned aerial vehicle attitude is the change of the speed of the four rotors, which realizes the lifting, pitching and other movements. Based on this, the embodiment adopts a method of controlling the rotors on one diagonal of the unmanned aerial vehicle to rotate clockwise and the rotors on the other diagonal to rotate counterclockwise, so as to offset the counter-torque force caused by the rotation of the rotors.

[0049] In addition, the flight state control information in this step is also sent to the unmanned aerial vehicle in the form of a message frame through a mobile network. Similarly, the following steps are included: S31: encapsulating the unmanned aerial vehicle flight attitude control information and the unmanned aerial vehicle flight route control information into data packets of a message frame data structure, respectively; S32: sending each encapsulated data packet to the ground control station through a mobile network. The encapsulation of the flight state control information into a data packet of a message frame data structure can refer to the data encapsulation method given in step 2, which will not be described here.

[0050] Step 4: On the side of the unmanned aerial vehicle, the flight state of the unmanned aerial vehicle is controlled according to the message frame sent by the ground control station.

[0051] It should be further explained that: first, in S2, the identity information of the unmanned aerial vehicle is also sent to the ground control station in the form of a message frame through the mobile network. Second, in S3, the identity information sent by the unmanned aerial vehicle needs to be parsed; and in addition to generating flight state control information for the unmanned aerial vehicle, flight restricted area control information should also be generated. The flight restricted area control information includes the number of target positions in the flight route, the number of each target position, the latitude and longitude of each target position, the non-flight area flag, and the flight restricted area radius. In addition, the flight restricted area control information is also sent to the unmanned aerial vehicle in the form of a message frame through the mobile network. Third, in S3, the PID control model includes: a first angle loop PID controller, a second angle loop PID controller, and a rotor angular velocity sensor connected in series. The first angle loop PID controller is used to receive the desired angle and obtain the desired angular velocity based on the desired angle. The second angle loop PID controller is used to generate a PWM signal based on the desired angular velocity. The rotor angular velocity sensor is used to obtain the current angle of the rotor and the current angular velocity of the rotor under the drive of the PWM signal, and feed back the current angle of the rotor to the first angle loop PID controller and feed back the current angular velocity of the rotor to the second angle loop PID controller. The first angle loop PID controller is also used to determine whether the current angular velocity of the rotor is the same as the desired angle, and if not, update the desired angle. The second angle loop PID controller is also used to determine whether the current angular velocity of the rotor is the same as the desired angular velocity, and if not, update the PWM signal.

[0052] Fourth, in S4, after the unmanned aerial vehicle receives the flight state control information, it should respond to the ground control station and send control signal response information to the ground control station in the form of a message frame through the mobile network.

[0053] In summary, the unmanned aerial vehicle flight state control method provided by the embodiment defines a message frame data structure for data interaction between the unmanned aerial vehicle and the ground station, and uses the message frame data structure to package the interaction data, ensuring that the information can be completely transmitted and received, reducing the interference of the unmanned aerial vehicle control information in the transmission process. Moreover, the packaged data is transmitted through the mobile network, so the unmanned aerial vehicle does not need to carry a microwave receiver, which fundamentally avoids the risk of the unmanned aerial vehicle being hijacked by traditional microwave receiving signals. Furthermore, through mobile network communication, the IP address of the unmanned aerial vehicle is dynamically allocated, which has a certain unpredictability, can effectively avoid network attacks on the unmanned aerial vehicle, and can further ensure communication security. In addition, using the mobile network to transmit the unmanned aerial vehicle control signal transmission can greatly increase the transmission distance of the signal, realizing remote mobile control of the flight state of the unmanned aerial vehicle.

[0054] Embodiment 2

[0055] Corresponding to Embodiment 1, the present embodiment provides a kind of asFigure 3 The unmanned aerial vehicle flight state control system includes a flight state sensing module 11, an unmanned aerial vehicle communication module 12, a flight control module 13, a GPS positioning module 14 and a warning module 15 installed on the unmanned aerial vehicle, and a data analysis module 21, a client communication module 22 and an identity verification module 23 installed on the ground control station; a TCP connection is established between the unmanned aerial vehicle and the ground control station.

[0056] The flight state sensing module 11 is configured to send flight state information to the unmanned aerial vehicle communication module 12 in real time; the unmanned aerial vehicle communication module 12 is configured to encode the flight state information and send the encoded information to the client communication module 22 in the form of a message frame through a mobile network; the client communication module 22 is configured to decode the message frame sent by the unmanned aerial vehicle communication module 12 and receive a control command sent by a remote controller; the data analysis module 21 is configured to analyze the control command and the information decoded by the client communication module 22 using a PID algorithm and a Mahony complementary filtering algorithm to generate an unmanned aerial vehicle flight control command; the client communication module 22 is further configured to encode the unmanned aerial vehicle flight control command and send the encoded information to the unmanned aerial vehicle communication module 12 in the form of a message frame through a mobile network; the unmanned aerial vehicle communication module 12 is further configured to decode the message frame sent by the client communication module 22; and the flight control module 13 is further configured to control the flight state of the unmanned aerial vehicle according to the information decoded by the unmanned aerial vehicle communication module 12.

[0057] The unmanned aerial vehicle flight state control system further includes an identity verification module 23 installed on the ground control station, and a GPS positioning module 14 and a warning module 15 installed on the unmanned aerial vehicle. The identity verification module 23 is configured to verify the identity legality of the unmanned aerial vehicle; the GPS positioning module 14 is configured to position the current position, target flight position and center position of the no-fly area of the unmanned aerial vehicle; and the warning module 15 is configured to generate a warning signal when the unmanned aerial vehicle approaches the no-fly area.

[0058] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present application. It should be understood that the above description is only a specific embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling a flight state of a UAV, the method comprising: The method comprises the following steps: S1: establishing a TCP connection between the unmanned aerial vehicle and the ground control station; S2: sending real-time flight state information of the unmanned aerial vehicle to the ground control station in the form of a message frame through a mobile network on the side of the unmanned aerial vehicle; wherein the real-time flight state information of the unmanned aerial vehicle comprises flight attitude information, flight position information and peripheral device information of the unmanned aerial vehicle; the flight attitude information comprises rotor speed, rotor direction, rotor angle and flight speed, the flight position information comprises longitude, latitude and flight height, and the peripheral device information comprises battery capacity and camera parameters; S3: on the side of the ground control station, establishing a PID control model, analyzing the message frame sent by the unmanned aerial vehicle and the control command sent by the remote controller of the unmanned aerial vehicle by using the PID control model and the Mahony complementary filtering method, generating flight state control information of the unmanned aerial vehicle, and sending the flight state control information to the unmanned aerial vehicle in the form of a message frame through a mobile network; wherein the flight state control information of the unmanned aerial vehicle comprises flight route control information and flight attitude control information of the unmanned aerial vehicle; the flight route control information comprises the number of a plurality of target positions in the flight route, the number of each target position and the longitude, latitude and height of each target position, and the flight attitude control information comprises expected rotor speed, expected rotor direction and expected rotor angle during the flight from the current position to the next target position; S4: controlling the flight state of the unmanned aerial vehicle according to the message frame sent by the ground control station on the side of the unmanned aerial vehicle; In the S2, the real-time flight state information of the unmanned aerial vehicle is sent to the ground control station in the form of a message frame through a mobile network, comprising the following steps: S21: respectively packaging the flight state information of the unmanned aerial vehicle, the flight position information of the unmanned aerial vehicle and the peripheral device information of the unmanned aerial vehicle into data packets of a message frame data structure; S22: sending each packaged data packet to the ground control station through a mobile network; In the S3, the message frame sent by the unmanned aerial vehicle and the control command sent by the remote controller of the unmanned aerial vehicle are analyzed by using the PID control model and the Mahony complementary filtering method, comprising the following steps: obtaining expected rotor speed and expected rotor angle of the unmanned aerial vehicle by using a PID algorithm; generating a high-pass filter signal for low-frequency noise filtering of a gyroscope and a low-pass filter signal for high-frequency noise filtering of rotor rotation acceleration by using a Mahony complementary filtering algorithm; The flight state control information is sent to the unmanned aerial vehicle in the form of a message frame through a mobile network, comprising the following steps: S31: respectively packaging the flight attitude control information of the unmanned aerial vehicle and the flight route control information of the unmanned aerial vehicle into data packets of a message frame data structure; S32: sending each packaged data packet to the ground control station through a mobile network; The PID control model comprises a first angle loop PID controller, a second angle loop PID controller and a rotor angular velocity sensor connected in series. 2.The method of claim 1, wherein, The flight attitude control information of the unmanned aerial vehicle includes that the rotor expected steering comprises a group of rotors on diagonal lines rotating in a clockwise direction and another group of rotors on diagonal lines rotating in a counterclockwise direction. 3.The method of claim 1, wherein, The method for packaging the data packet into a message frame data structure comprises the following steps: establishing a message frame data structure; the message frame data structure comprises a start flag field, a message frame serial number field, a message ID field, a data field, a check field and a message length field; The data is packaged by using a packaging function; The message frame data structure is extracted, and the start flag, the data packet serial number and the message ID are written into the message frame data structure, and the data packet serial number is increased by 1; The data is written into the message frame structure; The CRC verification code is calculated, and the CRC verification code is written into the message frame structure; The total length of the message frame is calculated, the total length is written into the message frame structure, and the data packet of the message frame data structure is obtained.

4. The method of claim 1-3, wherein, S2 further comprises the following steps: sending the identity information of the unmanned aerial vehicle to the ground control station in the form of a message frame through a mobile network; S3 further comprises the following steps: analyzing the identity information sent by the unmanned aerial vehicle, and generating flight prohibited area control information, and sending the flight prohibited area control information to the unmanned aerial vehicle in the form of a message frame through a mobile network; S4 further comprises the following steps: sending the control signal response information to the ground control station in the form of a message frame through a mobile network.

5. The method of claim 4, wherein, The flight prohibited area control information comprises the number of a plurality of target positions in a flight route, the number and the latitude and longitude of each target position, a flight prohibited area flag and a flight prohibited area radius.

6. A UAV flight state control system, comprising: The flight state sensing module (11), the unmanned aerial vehicle communication module (12) and the flight control module (13) are installed on the unmanned aerial vehicle, and the data analysis module (21) and the client communication module (22) are installed on the ground control station; a TCP connection is established between the unmanned aerial vehicle and the ground control station; The flight state sensing module (11) is used for transmitting flight state information to the unmanned aerial vehicle communication module (12) in real time; The unmanned aerial vehicle communication module (12) is used for encoding the flight state information, and sending the encoded information to the client communication module (22) in the form of a message frame through a mobile network; The client communication module (22) is configured to decode the message frames sent by the UAV communication module (12) and receive the control commands sent by the remote controller; The data analysis module (21) is configured to analyze the control commands and the information decoded by the client communication module (22) by using a PID algorithm and a Mahony complementary filtering algorithm, and generate UAV flight control commands; The client communication module (22) is further configured to encode the UAV flight control commands and send the encoded information to the UAV communication module (12) in the form of message frames through a mobile network; The UAV communication module (12) is further configured to decode the message frames sent by the client communication module (22); The flight control module (13) is further configured to control the flight state of the UAV according to the information decoded by the UAV communication module (12).

7. The unmanned aerial vehicle flight state control system of claim 6, wherein, Further comprising An identity verification module (23) installed on the ground control station, the identity verification module (23) is configured to verify the identity legality of the UAV; A GPS positioning module (14) and a warning module (15) installed on the UAV; the GPS positioning module (14) is configured to locate the current position, the target flight position and the center position of the no-fly area of the UAV; the warning module (15) is configured to generate a warning signal when the UAV approaches the no-fly area.

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