Distributed heterogeneous unmanned aerial vehicle network access management method and system

Abstract

The invention discloses a distributed heterogeneous unmanned aerial vehicle network access management method and system. A control terminal and an unmanned platform are registered to a network access management server; the unmanned platform sends a real equipment number and information to the network access management server, the network access management server judges whether a translation rule exists or not according to the received real equipment number and information, if the translation rule exists, the virtual equipment number is returned according to the translation rule, and if the translation rule does not exist, the virtual equipment number is sent to the network access management server after the translation rule is configured; returning an equipment virtual number according to the configured translation rule; the control terminal and the unmanned platform interact through the network access management server according to the equipment virtual number; and confirming control requirements of the control terminal, wherein the control requirements comprise one-to-one single-machine control, one-to-many group control and control right preemption. Data formats of heterogeneous unmanned aerial vehicles are unified through translation rules, unified access, control and monitoring of the heterogeneous unmanned aerial vehicles are realized, and random access of unmanned platforms and on-demand switching of control relations are realized through control right preemption setting.

Description

Technical Field

[0001] The present invention relates to unmanned aerial vehicle management, and in particular to a distributed heterogeneous unmanned aerial vehicle network access management method and system. Background Art

[0002] Unmanned Aerial Vehicle (UAV) can be used for site monitoring, weather detection, highway inspection, exploration and mapping, flood monitoring, aerial photography, traffic management, power line query, forest fire prevention and rescue, etc.

[0003] The current drone communication methods mainly include measurement and control chain radio, ad hoc network radio, optical communication, satellite communication, etc., usually using point-to-point communication. With the increase in the number of unmanned equipment, the traditional point-to-point method can no longer meet the efficient command and control needs of large-scale unmanned equipment. 4G / 5G networks have the characteristics of large bandwidth and low latency. Combined with the advantages of wide network coverage of operators, they have been gradually applied to the access control of unmanned equipment. For example, cloud platforms such as DJI Sikong can uniformly access, control and monitor connected DJI drones through 4G networks. However, various types of drone cloud platforms are usually targeted at drones of a single type or brand, and are insufficient in access management for heterogeneous drones. Summary of the invention

[0004] Purpose of the invention: In view of the above shortcomings, the present invention provides a distributed heterogeneous UAV network access management method and system with efficient access control management.

[0005] Technical solution: To solve the above problems, the present invention adopts a distributed heterogeneous UAV network access management method, which includes the following steps: Register the control terminal and several unmanned platforms to the network management server; the unmanned platform sends the real equipment number and information to the network management server, and the network management server determines whether there is a translation rule based on the received real equipment number and information. If there is a translation rule, the equipment virtual number is returned according to the translation rule. If there is no translation rule, the translation rule is configured and the equipment virtual number is returned according to the configured translation rule. The control terminal and the unmanned platform interact through the network management server according to the equipment virtual number; Confirm the control requirements of the control terminal, including one-to-one single-machine control, one-to-many group control and control preemption; When the control terminal performs one-to-one single-machine control, the control terminal obtains the unmanned platform list through the network management server, sends a pairing request to the selected unmanned platform, and controls the paired unmanned platform through the network management server; When the control terminal performs one-to-many group control, the control terminal obtains the unmanned platform list through the network management server, sends a pairing request to the selected unmanned platform group, and controls each paired unmanned platform through the network management server; When the control terminal seizes control rights, the control terminal sends a control rights seizure request to the target control terminal and the unmanned platform paired with the target control terminal through the network access management server. The target control terminal and its paired unmanned platform reply with a control rights seizure response. The network access management server sends a pairing relationship change instruction to the control terminal and the target control terminal, and the control terminal controls the seized unmanned platform.

[0006] Furthermore, it includes several network access management servers, and data synchronization is performed between the several network access management servers. When a control terminal registered with a first network access management server interacts with an unmanned platform registered with a second network access management server, the control terminal sends a pairing request to the first network access management server, the first network access management server synchronizes data with the second network access management server, and the pairing request is forwarded to the unmanned platform through the second network access management server. The unmanned platform sends a pairing response to the second network access management server, and the response is forwarded to the control terminal through the first network access management server. The first network access management server and the second network access management server synchronously update the pairing status list, and the control terminal forwards control instructions through the first network access management server and the second network access management server to achieve control information interaction with the unmanned platform.

[0007] The present invention also adopts a distributed heterogeneous unmanned aerial vehicle network access management system, including a network access management server, a control terminal and a plurality of unmanned platforms, wherein the network access management server is used for registering the control terminal and the plurality of unmanned platforms, and is also used for judging whether a translation rule exists according to the real equipment number and information received from the unmanned platform, and if a translation rule exists, returning the equipment virtual number according to the translation rule, and if no translation rule exists, after configuring the translation rule, returning the equipment virtual number according to the configured translation rule; the control terminal and the unmanned platform interact through the network access management server according to the equipment virtual number; The control terminal is used to control the unmanned platform through the network management server, including one-to-one single-machine control, one-to-many group control and control right preemption; When the control terminal performs one-to-one single-machine control, the control terminal obtains the unmanned platform list through the network management server, sends a pairing request to the selected unmanned platform, and controls the paired unmanned platform through the network management server; When the control terminal performs one-to-many group control, the control terminal obtains the unmanned platform list through the network management server, sends a pairing request to the selected unmanned platform group, and controls each paired unmanned platform through the network management server; When the control terminal seizes control rights, the control terminal sends a control rights seizure request to the target control terminal and the unmanned platform paired with the target control terminal through the network access management server. The target control terminal and its paired unmanned platform reply with a control rights seizure response. The network access management server sends a pairing relationship change instruction to the control terminal and the target control terminal, and the control terminal controls the seized unmanned platform.

[0008] Further, the network access management server includes an API management module, a scheduling management module, a tandem management module, a situation monitoring module, a configuration management module and a communication access module; The API management module is used to unify the data format of heterogeneous drones; The dispatch management module is used to support the registration and information exchange of the control terminal and the unmanned platform, and dynamically manage the assignment relationship between the control terminal and the unmanned platform; The tandem management module is used to connect to other network access management servers to achieve data sharing interaction with other network access management servers; The situation monitoring module is used to monitor the status information of the control terminal and the unmanned platform and display them in charts; The configuration management module is used to perform configuration management on system parameters; The communication access module is used to access the operator's 4G / 5G base station.

[0009] Furthermore, the API management module is used to unify the data format of heterogeneous drone API management interfaces, and the API management interfaces include power-on data reporting API, heartbeat link keep-alive API, real-time data reporting API, flight control API, route control API, payload data reporting API, gimbal mission control API, and gimbal remote control API.

[0010] Furthermore, the API management module receives the real equipment number and information of the unmanned platform in the startup data reporting API, and returns the virtual equipment number. The real equipment number and information include: equipment number, protocol version, equipment type and equipment model. The data in the heartbeat link keepalive API, real-time data reporting API, flight control API and route control API reported by the unmanned platform all use the virtual equipment number.

[0011] Furthermore, the control terminal is paired with a control terminal access device, and the control terminal accesses the network management server through the control terminal access device; the unmanned platform is paired with an unmanned platform access device, and the unmanned platform accesses the network management server through the unmanned platform access device.

[0012] Furthermore, the tandem management module is used to synchronize data between several network access management servers. When a control terminal registered with a first network access management server interacts with an unmanned platform registered with a second network access management server, the control terminal sends a pairing request to the first network access management server, the first network access management server and the second network access management server synchronize data through the tandem management module, forward the pairing request to the unmanned platform through the second network access management server, the unmanned platform sends a pairing response to the second network access management server, the response is forwarded to the control terminal through the first network access management server, the first network access management server and the second network access management server synchronously update the pairing status list, and the control terminal forwards control instructions through the first network access management server and the second network access management server to achieve control information interaction with the unmanned platform.

[0013] The present invention also adopts a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0014] The present invention also adopts a computer-readable storage medium on which a computer program is stored, and the computer program implements the steps of the above method when executed by a processor.

[0015] Beneficial effect: Compared with the prior art, the significant advantage of the present invention is that it unifies the data format of heterogeneous UAVs through translation rules, realizes unified access, unified control and unified monitoring of heterogeneous UAVs, and through the control right preemption setting, transforms the traditional one-to-one control fixed application mode into a flexible use mode in which the unmanned platform can be accessed at any time and the control relationship can be switched as needed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall framework of the management system in the present invention.

[0017] Figure 2 The figure is a schematic diagram of the access device registration process in the present invention.

[0018] Figure 3 It is a schematic diagram of the single machine control flow in the present invention.

[0019] Figure 4 It is a schematic diagram of the group control process in the present invention.

[0020] Figure 5 It is a schematic diagram of the control right preemption process in the present invention.

[0021] Figure 6 It is a schematic diagram of the multi-server tandem management process in the present invention. DETAILED DESCRIPTION

[0022] like Figure 1As shown, in this embodiment, a distributed heterogeneous UAV network access management system includes a network access management server, a control terminal access device and an unmanned platform access device. The network access management server, the control terminal access device and the unmanned platform access device use the operator's 4G / 5G network to achieve interconnection between the network access management server, the control terminal and the unmanned platform.

[0023] The network access management server includes an API management module, a scheduling management module, a tandem management module, a situation monitoring module, a configuration management module, and a communication access module. It supports cascade tandem, can decouple the accessed control terminals and unmanned platforms, and supports dynamic allocation of control terminals and unmanned platforms. The control terminal access device is paired with the control terminal and supports on-demand configuration and dynamic adjustment of the controlled unmanned platform by accessing the network access management server. The unmanned platform access device is paired with the unmanned platform and supports receiving instructions from the paired control terminal and reporting real-time status by accessing the network access management server.

[0024] The API management module in the network management server supports the registration of API management interfaces such as operation control, status monitoring, and abnormal alarms for heterogeneous UAVs and their payloads, and supports integrated calls by control terminals.

[0025] The API management interface includes power-on data reporting, heartbeat link keep-alive, real-time data reporting, flight control, route control, payload data reporting, gimbal mission control, gimbal remote control, etc. Through a unified data format, standardized access and management of heterogeneous drones can be achieved.

[0026] The API management module realizes the translation of heterogeneous drone data formats into a unified format by mapping data interface protocols. For drones with existing conversion rules, the module adaptively matches the translation rules. For drones that have not registered translation rules, the module provides configuration tools to register protocol translation rules. The API management module uses a flexible and extensible protocol framework to manage data format translation rules with differential fusion middleware, realizing on-demand standardized access and management of heterogeneous drones.

[0027] The API translation module complies with the API interface data format requirements such as power-on data reporting, heartbeat link keep-alive, real-time data reporting, flight control, route control, payload data reporting, gimbal mission control, and gimbal remote control, and converts the control terminal and unmanned platform data to achieve standardized access and control.

[0028] The API translation module translates the data format of heterogeneous drones into a unified format by mapping the data interface protocol, adaptively matches the translation rules according to the drone model and other information, and provides configuration tools to register the protocol translation rules for drones that have not yet registered the translation rules. The API translation module adopts a flexible and extensible protocol framework, manages the data format translation rules with differential fusion middleware, and realizes on-demand standardized access and management of heterogeneous drones. The translation rules contain information about which drones can be applied. When the drone is connected, the translation rules can be matched by the drone model. For new drones that have not yet registered the translation rules, the configuration tool can recommend existing translation rules based on the existing translation rules and the data reported by the new drone, and support manual correction to form new translation rules.

[0029] Boot data reporting API: supports the drone to send the real equipment number and information to the control terminal, and the control terminal returns the equipment virtual number. The purpose is to hide the real equipment number, obtain the virtual number assigned by the platform, and achieve the unified data format for heterogeneous drones. The data format is shown in the table below.

[0030] Table 1 Description of boot-up report data

[0031] Heartbeat link keepalive API: The drone periodically sends heartbeat packets to the control terminal at a frequency of 25HZ to keep alive. The control terminal responds after receiving the heartbeat packet. If the device and the control terminal still cannot communicate after the detection time is reached, it is considered that the two parties have disconnected. The data format is shown in the table below.

[0032] Table 2 Description of data sent by the heartbeat link

[0033] Real-time data reporting API: This message includes the real-time data of the drone and its payload. After the drone is powered on, it reports the basic information of the equipment in real time, with a frequency of 1HZ. The control terminal has no response. The data format is shown in the table below.

[0034] Table 3 Description of equipment real-time reporting data

[0035] Flight control API: UAV flight mission instructions include: takeoff, return, start, pause, continue, stop, automatic landing, forced landing, emergency hover and single waypoint. Different mission instructions are distinguished by missionType. The data format is shown in the table below.

[0036] Table 4 Description of the data sent by the UAV flight command

[0037] Route Control API: used to plan and set the route of the drone. The data format is shown in the table below.

[0038] Table 5 Route instruction sending data description

[0039] Payload data reporting API: The gimbal uses extra to report the payload status data in real time. The data format is shown in the table below.

[0040] Table 6 Description of PTZ real-time reporting data

[0041] The PTZ task control command is used to control the PTZ. The data format is shown in the table below.

[0042] Table 7 PTZ control data description

[0043] The gimbal remote control command is used to control the payload with the joystick. The data format is shown in the table below.

[0044] Table 8 PTZ remote control data description

[0045] The dispatch management module supports the registration of control terminal access equipment and unmanned platform access equipment, and dynamically manages the affiliation relationship between the control terminal and the unmanned platform, supports one-to-one single-machine control, one-to-many group control and other control methods, and supports control right preemption. The main steps of dispatch management include: like Figure 2 As shown, access device registration supports the registration of control terminal access devices and unmanned platform access devices to the scheduling management module. The process is described in detail as follows: Step 1-1, control the terminal access device or the unmanned platform access device to interact with the dispatch management module, enter the user name and password to send a login request to the dispatch management module; Step 1-2, after receiving the request, the scheduling management module obtains the user initialization configuration parameters from the configuration management module; Step 1-3, the scheduling management module sends a login and authentication request to the configuration management module. If the login and authentication information of the control terminal access device or the unmanned platform access device is correct, the configuration management module returns the relevant identity authentication information and token to the scheduling management module after receiving the request. Otherwise, it returns login failure, and the scheduling management module notifies the access device of the request result; Step 1-5, the unmanned platform access device determines whether the corresponding drone has registered the translation rules. If not, the translation rules are configured to complete the access management of this type of drone; Step 1-6: After the control terminal access device or the unmanned platform access device logs in successfully, interact through the scheduling management module.

[0046] Stand-alone control: Stand-alone control supports point-to-point control of the unmanned platform by the control terminal. The control process can be divided into three stages: pairing establishment, control interaction, and pairing cancellation. In the pairing establishment stage, the control terminal initiates a link establishment request to the network management server. The network management server obtains communication resources and connects to the unmanned platform. The unmanned platform responds to the link establishment request. The control terminal receives the link establishment response, and the connection is successfully established. The control terminal and the unmanned platform communicate control messages through the network management server through the communication link negotiated during the link establishment process. In the pairing cancellation stage, the control terminal initiates an end request to the network management server. The network management server reclaims communication resources and notifies the unmanned platform of the task completion. The stand-alone control process is as follows: Figure 3 shown.

[0047] Step 2-1, the control terminal accesses the device through the control terminal, sends a request to the network management server, obtains the unmanned platform list, and determines whether it has been bound and paired.

[0048] Step 2-2, sending a pairing request, the control terminal selects the unmanned platform to be paired, and sends a pairing request to the network access management server through the control terminal access device, and the network access management server forwards the pairing request to the unmanned platform access device.

[0049] Step 2-3, pairing request response, the unmanned platform access device feeds back the pairing request result to the network access management server, the network access management server updates the pairing record information, and forwards the pairing result to the control terminal access device to complete the pairing.

[0050] Step 2-4, unmanned platform control, the control terminal sends task instructions to the network access management server through the interface or joystick, and the network access management server forwards them to the unmanned platform access device to control the unmanned platform and its payload. The unmanned platform feeds back task response and real-time status through the unmanned platform access device.

[0051] Step 2-5, the pairing relationship is released. The control terminal sends a pairing relationship release request to the network access management server through the control terminal access device, which is forwarded by the network access management server to the unmanned platform access device. The unmanned platform access device feeds back a request response, and the network access management server updates the pairing relationship list.

[0052] Group control is a point-to-multipoint control method. A control terminal can send task instructions to multiple unmanned platforms in the group. Group control is also divided into three stages: pairing establishment, control interaction, and pairing cancellation. In the pairing establishment stage, the network management server sends a pairing establishment request to all unmanned platform access devices in the controlled group to establish a group. In the control interaction stage, the network management server forwards the received control instructions to all unmanned platform access devices. In the pairing cancellation stage, the control terminal initiates an end request, and the network management server sends a pairing cancellation instruction to all unmanned platform access devices in the group. The group control process is as follows: Figure 4 shown.

[0053] Step 3-1, the control terminal accesses the device through the control terminal, sends a request to the network management server, obtains the unmanned platform list, and determines whether it has been bound and paired.

[0054] Step 3-2, sending a pairing request, the control terminal selects the unmanned platform group to be paired, and sends a pairing request to the network access management server through the control terminal access device, and the network access management server forwards the pairing request to all selected unmanned platform access devices.

[0055] Step 3-3, pairing request response, the unmanned platform access device feeds back the pairing request result to the network access management server, the network access management server updates the pairing record information, and forwards the pairing result to the control terminal access device to complete the pairing.

[0056] Step 3-4, unmanned platform control, the control terminal sends task instructions to the network access management server through the interface or joystick, and the network access management server forwards them to each unmanned platform access device to control the unmanned platform and its payload. The unmanned platform feeds back task response and real-time status through the unmanned platform access device.

[0057] Step 3-5, group relationship release, the control terminal sends a group relationship release request to the network access management server through the control terminal access device, and the network access management server forwards it to each unmanned platform access device. Each unmanned platform access device feeds back a request response, and the network access management server updates the pairing relationship list.

[0058] Control preemption: The control preemption function authorizes a specific control terminal to preempt the unmanned platform being controlled so as to immediately convey important or urgent instructions. The control preemption process is as follows: Figure 5 shown.

[0059] Step 4-1, control the terminal access device 2 to send a control right preemption request to the network access management server.

[0060] Step 4-2: The network access management server sends a preemption request to the control terminal access device 1 and the corresponding unmanned platform access device.

[0061] Step 4-3, the control terminal access device 1 and the corresponding unmanned platform access device reply with a control right preemption response, and the network access management server sends a pairing relationship change instruction to the control terminal access device 1 and the control terminal access device 2, and updates the pairing status list.

[0062] The tandem management module in the network management server supports the expansion and upgrade of the system by deploying multiple network management servers. Each network management server can realize data sharing and interaction between different servers through the tandem management module, support the interaction between the control nodes and unmanned platform nodes under different servers, and support cross-system single-machine control, cross-system group control, and cross-system control preemption. Figure 6 As shown in the figure, taking typical cross-system single-machine control as an example, the operation steps include: Step 5-1, device registration and data synchronization, the control terminal access device is registered to the network management server 1, the unmanned platform access device is registered to the network management server 2, and the network management server 1 and the network management server synchronize the registered device data, configuration data, etc.

[0063] Step 5-2, sending a pairing request, the control terminal access device sends a pairing request to the network access management server 1, and forwards it through the network access management server 2 to apply for pairing with the unmanned platform access device.

[0064] Step 5-3, pairing request response, the unmanned platform access device sends a pairing response to the network access management server 2, and forwards it to the control terminal access device through the network access management server 1.

[0065] Step 5-4, pairing relationship update, network access management server 1 and network access management server 2 update the pairing status list.

[0066] Step 5-5, control interaction, control the terminal access device to forward control instructions through the network management server 1 and the network management server 2 to achieve control information interaction with the unmanned platform access device.

[0067] The situation monitoring module in the network management server supports monitoring the status information of the control terminal and unmanned platform, and displays it in charts. It supports displaying the pairing relationship list, control terminal status, unmanned platform status, server connection status and comprehensive situation.

[0068] The pairing relationship list supports displaying the pairing status in a list format, including pairing ID, group ID, drone ID, control terminal ID, unmanned platform access device ID, control terminal access device ID, pairing establishment time, pairing cancellation event and other field items, and supports filtering and sorting based on field items.

[0069] The control terminal status supports displaying the system registered control terminal status in a list format, including fields such as current user ID, belonging server ID, control terminal ID, control terminal access device ID, registration time, heartbeat status, number of paired drones, etc., and supports filtering and sorting based on field items.

[0070] The unmanned platform status supports displaying the system registered unmanned platform status in list format, including field items such as current user ID, belonging server ID, unmanned platform ID, unmanned platform access device ID, registration time, heartbeat status, paired control terminal ID, etc., and supports filtering and sorting based on field items.

[0071] The server connection status supports displaying the network management server connection status in a list format, displaying fields such as server ID, server location, server status, number of registered control terminals, number of registered unmanned platforms, and supports filtering and sorting based on field items.

[0072] The comprehensive situation supports the display of the control terminal, unmanned platform location and status information in map form, and displays the drone coordinates, control terminal coordinates, drone status, control terminal status and other information on the GIS map. It also supports filtering and displaying targets by layer and area range.

[0073] The communication access module accesses the operator's 4G / 5G base station to achieve interconnection with other control terminal access devices, unmanned platform access devices and network management servers.

[0074] The control terminal access equipment and unmanned platform access equipment are composed of modules such as API translation, scheduling management and communication access.

[0075] The dispatching management module supports API interaction between terminal access devices and unmanned platform access devices and the network management server, and supports registration, single-machine control, group control, and control preemption.

[0076] Communication access module, supporting 4G / 5G operator network access.

Claims

1. A distributed heterogeneous UAV network access management method, characterized in that: The following steps are involved: Register the control terminal and several unmanned platforms to the network management server; The unmanned platform sends the real equipment number and information to the network management server. The network management server determines whether there is a translation rule based on the received real equipment number and information. If there is a translation rule, the equipment virtual number is returned according to the translation rule. If there is no translation rule, the translation rule is configured and the equipment virtual number is returned according to the configured translation rule. The control terminal and the unmanned platform interact through the network management server based on the equipment virtual number. Confirm the control requirements of the control terminal, including one-to-one single-machine control, one-to-many group control and control preemption; When the control terminal performs one-to-one single-machine control, the control terminal obtains the unmanned platform list through the network management server, sends a pairing request to the selected unmanned platform, and controls the paired unmanned platform through the network management server; When the control terminal performs one-to-many group control, the control terminal obtains the unmanned platform list through the network management server, sends a pairing request to the selected unmanned platform group, and controls each paired unmanned platform through the network management server; When the control terminal seizes control rights, the control terminal sends a control rights seizure request to the target control terminal and the unmanned platform paired with the target control terminal through the network access management server. The target control terminal and its paired unmanned platform reply with a control rights seizure response. The network access management server sends a pairing relationship change instruction to the control terminal and the target control terminal, and the control terminal controls the seized unmanned platform.

2. The distributed heterogeneous UAV network access management method according to claim 1 is characterized in that: It includes several network access management servers, and data synchronization is performed between the several network access management servers. When a control terminal registered with a first network access management server interacts with an unmanned platform registered with a second network access management server, the control terminal sends a pairing request to the first network access management server, the first network access management server synchronizes data with the second network access management server, forwards the pairing request to the unmanned platform through the second network access management server, the unmanned platform sends a pairing response to the second network access management server, and the response is forwarded to the control terminal through the first network access management server. The first network access management server and the second network access management server synchronously update a pairing status list, and the control terminal forwards control instructions through the first network access management server and the second network access management server to achieve control information interaction with the unmanned platform.

3. A distributed heterogeneous UAV network access management system, characterized in that: It includes a network access management server, a control terminal and several unmanned platforms. The network access management server is used to register the control terminal and several unmanned platforms, and is also used to determine whether there is a translation rule according to the real equipment number and information sent by the unmanned platform. If there is a translation rule, the equipment virtual number is returned according to the translation rule. If there is no translation rule, after the translation rule is configured, the equipment virtual number is returned according to the configured translation rule; the control terminal and the unmanned platform interact through the network access management server according to the equipment virtual number; The control terminal is used to control the unmanned platform through the network management server, including one-to-one single-machine control, one-to-many group control and control right preemption; When the control terminal performs one-to-one single-machine control, the control terminal obtains the unmanned platform list through the network management server, sends a pairing request to the selected unmanned platform, and controls the paired unmanned platform through the network management server; When the control terminal performs one-to-many group control, the control terminal obtains the unmanned platform list through the network management server, sends a pairing request to the selected unmanned platform group, and controls each paired unmanned platform through the network management server; When the control terminal seizes control rights, the control terminal sends a control rights seizure request to the target control terminal and the unmanned platform paired with the target control terminal through the network access management server. The target control terminal and its paired unmanned platform reply with a control rights seizure response. The network access management server sends a pairing relationship change instruction to the control terminal and the target control terminal, and the control terminal controls the seized unmanned platform.

4. The distributed heterogeneous UAV network access management system according to claim 3 is characterized in that: The network access management server includes an API management module, a scheduling management module, a configuration management module, a tandem management module, a situation monitoring module and a communication access module; The API management module is used to unify the data format of heterogeneous drones; The dispatch management module is used to support the registration and information exchange of the control terminal and the unmanned platform, and dynamically manage the assignment relationship between the control terminal and the unmanned platform; The tandem management module is used to connect to other network access management servers to achieve data sharing interaction with other network access management servers; The situation monitoring module is used to monitor the status information of the control terminal and the unmanned platform and display them in charts; The configuration management module is used to perform configuration management on system parameters; The communication access module is used to access the operator's 4G / 5G base station.

5. The distributed heterogeneous UAV network access management system according to claim 4 is characterized in that: The API management module is used to unify the data format of heterogeneous drone API management interfaces, and the API management interfaces include power-on data reporting API, heartbeat link keep-alive API, real-time data reporting API, flight control API, route control API, payload data reporting API, gimbal mission control API, and gimbal remote control API.

6. The distributed heterogeneous UAV network access management system according to claim 5, characterized in that: The API management module receives the real equipment number and information of the unmanned platform in the startup data reporting API, and returns the equipment virtual number. The real equipment number and information include: equipment number, protocol version, equipment type and equipment model. The data in the heartbeat link keepalive API, real-time data reporting API, flight control API and route control API reported by the unmanned platform all use the equipment virtual number.

7. The distributed heterogeneous UAV network access management system according to claim 6, characterized in that: The control terminal is paired with the control terminal access device, and the control terminal accesses the network management server through the control terminal access device; the unmanned platform is paired with the unmanned platform access device, and the unmanned platform accesses the network management server through the unmanned platform access device.

8. The distributed heterogeneous UAV network access management system according to claim 7, characterized in that: The tandem management module is used to synchronize data between several network access management servers. When a control terminal registered with a first network access management server interacts with an unmanned platform registered with a second network access management server, the control terminal sends a pairing request to the first network access management server, the first network access management server and the second network access management server synchronize data through the tandem management module, forward the pairing request to the unmanned platform through the second network access management server, the unmanned platform sends a pairing response to the second network access management server, the response is forwarded to the control terminal through the first network access management server, the first network access management server and the second network access management server synchronously update the pairing status list, and the control terminal forwards control instructions through the first network access management server and the second network access management server to achieve control information interaction with the unmanned platform.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to claim 1 or 2 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to claim 1 or 2 are implemented.

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