Unified information interaction method and communication system for urban low-altitude flight equipment and ground platform

Abstract

The invention is applicable to the technical field of low-altitude flight equipment, and provides a unified information interaction method and communication system for urban low-altitude flight equipment and a ground platform, and the method comprises the following steps: the low-altitude flight equipment sends a flight information data packet to a network server according to a set data frame packaging format; the network server carries out verification, data analysis is carried out after verification is passed, and data information in the data is extracted; the analyzed data information is stored in a database, and the flight state of the low-altitude flight equipment is displayed in real time for monitoring; and when the ground platform sends an operation instruction, the low-altitude flight equipment executes a corresponding action according to the operation instruction and feeds back an execution result to the ground platform. According to the method, a uniform data packaging format and frame content are defined, and an efficient data analysis and verification mechanism is realized, so that rapid, accurate and real-time access of information between the low-altitude flight equipment and the ground platform is ensured, and the problems of data access delay, data loss, complex data analysis and the like are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of low-altitude flight equipment, and in particular relates to a unified information interaction method and communication system between urban low-altitude flight equipment and a ground platform. Background Art

[0002] With the rapid development of low-altitude urban transportation, low-altitude flying equipment such as drones and unmanned aerial vehicles are increasingly used in aerial photography, urban environmental monitoring, logistics distribution, emergency rescue and other fields. These devices not only provide new perspectives and tools for urban management, but also play an important role in improving logistics efficiency and ensuring public safety. However, with the continuous expansion of application scenarios, higher requirements are placed on the control and data access of low-altitude flying equipment.

[0003] At present, the control and data access of drones mainly rely on the communication between the flight control system and the ground platform. In order to ensure flight safety and the effectiveness of mission execution, stable and accurate information exchange is required between urban low-altitude flight equipment and the ground platform. This information exchange not only includes basic flight command transmission, but also involves real-time status feedback, environmental perception data sharing and other aspects. Only through an efficient and reliable communication mechanism can the entire system run smoothly and respond to various emergencies in a timely manner.

[0004] However, there are many problems with the existing information interaction methods. First, in most cases, the communication between the UAV flight control system and the ground platform adopts a customized development solution. Although this method can meet the needs of specific projects, it often lacks versatility and flexibility. Equipment produced by different manufacturers may use different protocol standards and technical architectures, making it difficult to achieve seamless docking with each other. In addition, when it is necessary to add new functions or upgrade existing systems, there will be great resistance, because every change may affect the existing workflow and service quality. Secondly, due to the lack of support for unified specifications, the current information interaction mode also faces the problem of poor compatibility. Even in the same type of products, different brands or models may not be able to communicate directly and effectively.

[0005] The existing information interaction methods for the communication between the UAV flight control system and the ground platform are mostly customized, which has problems such as poor compatibility, weak scalability, high maintenance cost, unstable data access, and inaccurate information analysis, which affects the control and monitoring effect of the flight equipment. Specifically, first of all, the communication protocol is not unified in customized development, which makes it difficult for UAV systems from different manufacturers to interconnect; secondly, the data frame structure is fixed and it is difficult to adapt to the diverse flight mission requirements; in addition, there is a lack of effective error detection and retransmission mechanism, which affects the reliability of communication. Summary of the invention

[0006] In view of the above problems, the purpose of the present invention is to provide a unified information interaction method and communication system between urban low-altitude flying equipment and ground platforms, aiming to solve the technical problems.

[0007] The present invention adopts the following technical solution:

[0008] On the one hand, the unified information interaction method between the urban low-altitude flight equipment and the ground platform includes the following steps:

[0009] Step S1, the low-altitude flight device sends a flight information data packet to a network server according to a set data frame encapsulation format periodically or when receiving a trigger instruction;

[0010] Step S2: After receiving the flight information data packet, the network server first verifies it, and then parses the data to extract the data information;

[0011] Step S3: The network server stores the parsed data information in a database and pushes it to the ground platform in real time, displaying the flight status of the low-altitude flight equipment in real time for monitoring;

[0012] Step S4: When the ground platform issues an operation instruction, the network server sends the operation instruction to the low-altitude flying device, and the low-altitude flying device performs corresponding actions according to the operation instruction and feeds back the execution result to the ground platform through the network server.

[0013] Furthermore, in step S1, the encapsulation format of the flight information data packet is: synchronization header, identifier, frame length, longitude, latitude, altitude, heading angle, pitch angle, roll angle, positioning identifier, track angle, ground speed, vertical speed, GPS time, custom information and checksum.

[0014] Furthermore, the checksum length is 1 byte, specifically the lower 8 bits of the sum of the values ​​of other fields in the data packet except the checksum.

[0015] Furthermore, in the flight information data packet: the synchronization header field occupies 2 bytes; the identification field occupies 2 bytes; the frame length field is a variable length structure, the total frame length is N, N≤101, and occupies one byte; the longitude, latitude, altitude, heading angle, pitch angle, roll angle, positioning identification, track angle, ground speed, vertical speed, and GPS time fields are fixed information, occupying a total of 31 bytes; the custom information field occupies 0 to 64 bytes; and the checksum occupies 1 byte.

[0016] Furthermore, the value of each field of the data packet is saved as an integer, including an unsigned integer and a signed integer, and each field has a fixed resolution. When parsing the data packet, the actual data is restored based on the extracted data and the resolution.

[0017] Furthermore, the data parsing process of step S2 is as follows:

[0018] Use a fixed synchronization code to match the received data packet to quickly identify the starting position of the data frame, then extract the identification field to determine the device type of the low-altitude flight device, and after obtaining the frame length value N, you can quickly obtain the checksum value, that is, the check code, and then calculate the value of the first N-1 bytes, and take the lower 8 bits of the value sum and compare it with the check code for verification. After the verification is passed, obtain the values ​​of each fixed information field and the custom information field, and convert them into actual data information through resolution, and finally save the actual data information obtained to the database.

[0019] On the other hand, the communication system between the urban low-altitude flight equipment and the ground platform includes a low-altitude flight equipment, a ground platform, a network server and a database. The low-altitude flight equipment, the ground platform and the network server are used to execute the unified information interaction method.

[0020] The beneficial effects of the present invention are as follows: the present invention ensures fast, accurate and real-time access of information between low-altitude flight equipment and ground platforms by defining a unified data encapsulation format and frame content, and realizing an efficient data analysis and verification mechanism, solves the problems of data access delay, data loss, and complex data analysis, enables the ground platform to accurately obtain the status information of the flight equipment, and improves the monitoring accuracy. Real-time information interaction can timely discover abnormal conditions of the flight equipment and improve flight safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a flow chart of a unified information interaction method between an urban low-altitude flight device and a ground platform provided by an embodiment of the present invention;

[0022] Figure 2 It is a data frame encapsulation format diagram;

[0023] Figure 3 It is a structural block diagram of a communication system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0025] In order to illustrate the technical solution of the present invention, a specific embodiment is provided below for illustration.

[0026] Embodiment 1:

[0027] like Figure 1As shown, the unified information interaction method between the urban low-altitude flight equipment and the ground platform provided in this embodiment includes the following steps:

[0028] Step S1: The low-altitude flight device sends a flight information data packet to a network server according to a set data frame encapsulation format periodically or when receiving a trigger instruction.

[0029] Low-altitude flying devices are generally drones, etc. Low-altitude flying devices periodically send flight information data packets to the network server. Data distribution adopts a timing mechanism with a sending frequency of 2Hz, that is, once every 500ms. In addition, data distribution adopts the UDP protocol, which is more efficient when processing large amounts of data, reduces delays, and makes the timeliness of receiving data from low-altitude flying devices more effective. In addition, if the ground platform needs to issue a trigger command to obtain flight information, the low-altitude flying device will also send the flight information data packet to the ground platform through the network server.

[0030] Flight information generally includes status information, flight parameters, etc. Flight information needs to be encapsulated in a set format, and the encapsulated data packets are sent according to the UDP protocol. In this embodiment, the data frame encapsulation format is as follows: Table 1, Table 2 and Figure 2 As shown:

[0031] Table 1 Data frame encapsulation format

[0032]

[0033] Table 2 Data frame structure division

[0034]

[0035] With respect to Table 1, the encapsulation format of the flight information data packet is: synchronization header, identifier, frame length, longitude, latitude, altitude, heading angle, pitch angle, roll angle, positioning identifier, track angle, ground speed, vertical speed, GPS time, custom information and checksum.

[0036] In this encapsulation format, the data types of each field mainly include 'U8' (uint8, unsigned 8-bit integer), 'U16' (uint16, unsigned 16-bit integer), 'U32' (uint32, unsigned 32-bit integer), 'S8' (int8, signed 8-bit integer), 'S16' (int16, signed 16-bit integer). The values ​​of each field of the data packet are saved as integers, including unsigned integers and signed integers, and each field has a fixed resolution. The number of bytes of each field is shown in Table 1. The checksum length is 1 byte, which is the sum of the values ​​of other fields of the data packet except the checksum, taking the lower 8 bits.

[0037] As shown in Table 2, the data frame structure is divided into six parts according to function: AF.

[0038] A is the synchronization header, which is 0xEB, 0x90 and occupies 2 bytes;

[0039] B is the identifier, used to identify the device type, occupying 2 bytes;

[0040] C is the frame length, which is a variable length structure. The total frame length is N, N≤101, and occupies 1 byte;

[0041] D is fixed information, including longitude, latitude, altitude, heading angle, pitch angle, roll angle, positioning identifier, track angle, ground speed, vertical speed, and GPS time field, which is fixed information and occupies 31 bytes in total;

[0042] E is custom information, which occupies 0 to 64 bytes. Custom information can realize flexible access to drone information from different manufacturers and has strong compatibility.

[0043] F is the checksum, which occupies 1 byte. The checksum can ensure the integrity and accuracy of the data.

[0044] The format setting adopts little-endian mode, with low byte first and high byte last, which helps maintain software compatibility and provides better memory access performance.

[0045] Step S2: After receiving the flight information data packet, the network server first performs verification, and after the verification is passed, performs data analysis to extract the data information therein.

[0046] Use a fixed synchronization code (the synchronization code in this embodiment is 0xEB, 0x90) to match the received data packet to quickly identify the starting position of the data frame, and then extract the identification field to determine the device type of the low-altitude flight device. After obtaining the frame length value N, you can quickly obtain the checksum value, that is, the check code, and then calculate the value of the first N-1 bytes, and take the lower 8 bits of the value sum and compare it with the check code for verification. After the verification is passed, the values ​​of each fixed information field and the custom information field are obtained, and converted into actual data information through resolution, and finally the actual data information obtained is saved to the database.

[0047] It should be noted that the fixed header of the data frame occupies two bytes, which are 0xEB and 0x90 respectively. The data frame is identified by matching it from the data packet using the synchronization code. Complete consistency can be considered as the beginning of the data frame. Then the device type can be determined according to the identification field, and the total length of a data frame can be obtained by the frame length value N. The data of N bytes starting from the data frame is a complete data frame. The last byte is the checksum value, which is defined as the check code here. The value of the first N-1 bytes of the data frame is taken, and then the lower 8 bits are compared with the check code to ensure the integrity and accuracy of the data. If they are consistent, the verification is passed, otherwise it fails. If the verification is passed, the subsequent content of the data packet is parsed, including the values ​​of the fixed information fields and the custom information fields. The custom information can be agreed upon by different drone manufacturers.

[0048] During parsing, since the data types of each field are integers, and the original actual data of some fields are decimals, the default resolution is set for each field during data encapsulation, as shown in Table 1. The resolution is 1, which means that the parsed field value is the actual data; the resolution is 1e-*, which means that the actual data needs to shift the decimal point to the left by * places, such as 1e-2, which means that the decimal point is shifted to the left by 2 places. If the parsed field value is 123, it will be 1.23 after resolution conversion. This method can reduce the problem of precision loss. The extracted data can be restored to the actual data in combination with the resolution.

[0049] Therefore, after receiving the data packet, this step verifies the checksum to ensure the integrity and accuracy of the data. After the verification, the data frame is parsed according to some field information in the data header to extract the drone's status information, flight parameters and other data.

[0050] Step S3: The network server stores the parsed data information in a database and pushes it to the ground platform in real time, displaying the flight status of the low-altitude flight equipment in real time for monitoring.

[0051] The parsed data is stored in the database and pushed to the ground platform, where the status of the low-altitude flight equipment can be displayed in real time to monitor the low-altitude flight equipment.

[0052] Step S4: When the ground platform issues an operation instruction, the network server sends the operation instruction to the low-altitude flying device, and the low-altitude flying device performs corresponding actions according to the operation instruction and feeds back the execution result to the ground platform through the network server.

[0053] At the same time, according to the monitoring results, the ground platform can also send operation instructions to the low-altitude flight equipment, such as adjusting the flight altitude, changing the flight route, etc. After receiving the operation instruction, the low-altitude flight equipment will immediately execute the instruction and feedback the execution result to the ground platform. The ground platform adjusts the subsequent control strategy according to the feedback result. During the entire information interaction process, the ground platform will monitor the operating status of the low-altitude flight equipment in real time. Once an abnormal situation is found, an alarm message will be issued immediately and corresponding emergency measures will be taken.

[0054] Embodiment 2:

[0055] like Figure 3 As shown, the communication system between urban low-altitude flight equipment and ground platform provided in this embodiment includes a low-altitude flight equipment 100, a ground platform 200, a network server 300 and a database 400. The low-altitude flight equipment 100, the ground platform 200 and the network server 300 are used to execute the unified information interaction method described in Example 1.

[0056] The low-altitude flying device is a drone, the database is a high-availability database cluster, including a read-write database, a backup database, etc. The network server is mainly responsible for data analysis and data and instruction forwarding, as well as a series of message push, alarm generation, etc. The ground platform can be a PC or mobile terminal, and is installed with applications such as a data visualization platform.

[0057] Through the above communication system, the present invention defines a unified frame structure and frame content, ensuring the stability and accuracy of data access. The flight information data is classified and defined in detail, so that the ground platform software can accurately obtain the status information of low-altitude flight equipment, improving the monitoring accuracy. Real-time information interaction can timely discover abnormal conditions of flight equipment, improving flight safety.

[0058] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A unified information interaction method between urban low-altitude flight equipment and ground platforms, characterized in that: The method comprises the following steps: Step S1, the low-altitude flight device sends a flight information data packet to a network server according to a set data frame encapsulation format periodically or when receiving a trigger instruction; Step S2: After receiving the flight information data packet, the network server first verifies it, and then parses the data to extract the data information; Step S3: The network server stores the parsed data information in a database and pushes it to the ground platform in real time, displaying the flight status of the low-altitude flight equipment in real time for monitoring; Step S4: When the ground platform issues an operation instruction, the network server sends the operation instruction to the low-altitude flying device, and the low-altitude flying device performs corresponding actions according to the operation instruction and feeds back the execution result to the ground platform through the network server.

2. The unified information interaction method between urban low-altitude flight equipment and ground platform as claimed in claim 1, characterized in that: In step S1, the encapsulation format of the flight information data packet is: synchronization header, identifier, frame length, longitude, latitude, altitude, heading angle, pitch angle, roll angle, positioning identifier, track angle, ground speed, vertical speed, GPS time, custom information and checksum.

3. The unified information interaction method between urban low-altitude flight equipment and ground platform as claimed in claim 2, characterized in that: The checksum length is 1 byte, which is the lower 8 bits of the sum of the values ​​of other fields in the data packet except the checksum.

4. The unified information interaction method between urban low-altitude flight equipment and ground platform as claimed in claim 3 is characterized in that: In the flight information data packet: the synchronization header field occupies 2 bytes; the identification field occupies 2 bytes; the frame length field is a variable length structure, the total frame length is N, N≤101, and occupies one byte; the longitude, latitude, altitude, heading angle, pitch angle, roll angle, positioning identifier, track angle, ground speed, vertical speed, and GPS time fields are fixed information, occupying a total of 31 bytes; the custom information field occupies 0 to 64 bytes; the checksum occupies 1 byte.

5. The unified information interaction method between urban low-altitude flight equipment and ground platform as claimed in claim 4, characterized in that: The values ​​of each field in the data packet are saved as integers, including unsigned integers and signed integers, and each field has a fixed resolution. When parsing the data packet, the actual data is restored based on the extracted data and the resolution.

6. The unified information interaction method between urban low-altitude flight equipment and ground platform as claimed in claim 5, characterized in that: The data parsing process of step S2 is as follows: Use a fixed synchronization code to match the received data packet to quickly identify the starting position of the data frame, then extract the identification field to determine the device type of the low-altitude flight device, and after obtaining the frame length value N, you can quickly obtain the checksum value, that is, the check code, and then calculate the value of the first N-1 bytes, and take the lower 8 bits of the value sum and compare it with the check code for verification. After the verification is passed, obtain the values ​​of each fixed information field and the custom information field, and convert them into actual data information through resolution, and finally save the actual data information obtained to the database.

7. A communication system between urban low-altitude flying equipment and ground platform, characterized in that: The communication system includes a low-altitude flight device, a ground platform, a network server and a database, and the low-altitude flight device, the ground platform and the network server are used to execute the unified information interaction method described in any one of claims 1-6.

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