A Distributed Heterogeneous UAV Network Access Management Method and System

Abstract

The present invention discloses a method and system for distributed heterogeneous unmanned aerial vehicle network access management, which registers a control terminal and an unmanned platform to a network access management server; the unmanned platform sends the real equipment number and information to the network access management server, and the network access management server determines whether there is a translation rule according to 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, 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 requirements of the control terminal are confirmed, including one-to-one single aircraft control, one-to-many group control, and control right preemption. By unifying the data format of heterogeneous unmanned aerial vehicles through the translation rule, the unified access, control, and monitoring of heterogeneous unmanned aerial vehicles are realized. Through the setting of control right preemption, the unmanned platform can be randomly accessed and the control relationship can be switched as needed.

Description

Technical Field

[0001] The present invention relates to the management of unmanned aerial vehicles, and specifically to a method and system for distributed heterogeneous unmanned aerial vehicle network access management. Background Art

[0002] Unmanned Aerial Vehicles (UAVs) can be applied to field monitoring, meteorological detection, highway patrol, exploration and surveying, flood monitoring, aerial photography, traffic management, power line inspection, forest fire prevention and rescue, etc.

[0003] Currently, the communication methods of UAVs mainly include telemetry and control link radios, self-organizing networks radios, optical communication, satellite communication, etc., and usually adopt point-to-point communication methods. With the increase in the number of unmanned equipment, the traditional point-to-point method can no longer meet the efficient command and control requirements of large-scale unmanned equipment. 4G / 5G networks have the characteristics of large bandwidth and low latency. Combining the advantages of wide coverage of operator networks, they have gradually been applied to the access control of unmanned equipment. For example, cloud platforms such as DJI Skyport can, through the 4G network, uniformly access, control, and monitor the connected DJI UAVs. However, currently, various UAV cloud platforms usually target single-type or single-brand UAVs and have deficiencies in the access management of heterogeneous UAVs. Summary of the Invention

[0004] Object of the Invention: Aiming at the above-mentioned drawbacks, the present invention provides a method and system for distributed heterogeneous unmanned aerial vehicle network access management with efficient access control management.

[0005] Technical Solution: To solve the above problems, the present invention adopts a method for distributed heterogeneous unmanned aerial vehicle network access management, including the following steps:

[0006] Register the control terminal and several unmanned platforms to the network access management server; the unmanned platform sends the real equipment number and information to the network access management server. The network access management server determines whether there is a translation rule based on the received real equipment number and information. If there is a translation rule, it returns the equipment virtual number according to the translation rule. If there is no translation rule, after configuring the translation rule, it returns 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;

[0007] Confirm the control requirements of the control terminal, including one-to-one single-unit control, one-to-many group control, and control right preemption;

[0008] When the control terminal performs one-to-one single-unit control, the control terminal obtains the list of unmanned platforms through the network access management server, sends a pairing request to the selected unmanned platform, and controls the paired unmanned platform through the network access management server;

[0009] When the control terminal performs one - to - many group control, the control terminal obtains the list of unmanned platforms through the network access management server, sends a pairing request to the selected unmanned platform group, and controls each paired unmanned platform through the network access management server;

[0010] When the control terminal performs control right preemption, the control terminal sends a control right preemption request to the target control terminal to be preempted 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 right preemption 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 preempted unmanned platform.

[0011] Furthermore, it includes several network access management servers. Data synchronization is carried out among the several network access management servers. When the control terminal registered to the first network access management server interacts with the unmanned platform registered to the 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 the pairing status list, and the control terminal realizes the control information interaction with the unmanned platform by forwarding control instructions through the first network access management server and the second network access management server.

[0012] 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 several unmanned platforms. The network access management server is used for the registration of the control terminal and several unmanned platforms, and is also used for judging whether there is a translation rule according to the real equipment number and information sent by the received 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;

[0013] The control terminal is used for controlling the unmanned platform through the network access management server, including one - to - one single - machine control, one - to - many group control and control right preemption;

[0014] When the control terminal performs one - to - one single - machine control, the control terminal obtains the list of unmanned platforms through the network access management server, sends a pairing request to the selected unmanned platform, and controls the paired unmanned platform through the network access management server;

[0015] When the control terminal performs one-to-many group control, the control terminal obtains the list of unmanned platforms through the network access management server, sends a pairing request to the selected unmanned platform group, and controls each paired unmanned platform through the network access management server;

[0016] When the control terminal preempts the control right, the control terminal sends a control right preemption request to the target control terminal to be preempted 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 right preemption 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 preempted unmanned platform.

[0017] Furthermore, the network access management server includes an API management module, a scheduling management module, a convergence management module, a situation monitoring module, a configuration management module, and a communication access module;

[0018] The API management module is used to unify the data formats of heterogeneous unmanned aerial vehicles;

[0019] The scheduling management module is used to support the registration and information interaction of the control terminal and the unmanned platform, and dynamically manage the affiliation relationship between the control terminal and the unmanned platform;

[0020] The convergence management module is used to connect to other network access management servers and realize data sharing and interaction with other network access management servers;

[0021] The situation monitoring module is used to monitor the status information of the control terminal and the unmanned platform and display it in the form of charts;

[0022] The configuration management module is used to configure and manage the parameters of the system;

[0023] The communication access module is used to access the operator's 4G / 5G base station.

[0024] Furthermore, the API management module is used to unify the data formats of the API management interfaces of heterogeneous unmanned aerial vehicles. The API management interfaces include a startup data reporting API, a heartbeat link keep-alive API, a real-time data reporting API, a flight control API, a route control API, a payload data reporting API, a pan-tilt task control API, and a pan-tilt remote control API.

[0025] 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 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 keep-alive API, real-time data reporting API, flight control API, and route control API reported by the unmanned platform all use the equipment virtual number.

[0026] Further, the control terminal is used in pair with a control terminal access device, and the control terminal accesses the network access management server through the control terminal access device; the unmanned platform is used in pair with an unmanned platform access device, and the unmanned platform accesses the network access management server through the unmanned platform access device.

[0027] Further, the tandem management module is used for data synchronization among several network access management servers. When the control terminal registered to the first network access management server interacts with the unmanned platform registered to the 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 perform data synchronization 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, 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 realizes the control information interaction with the unmanned platform by forwarding control instructions through the first network access management server and the second network access management server.

[0028] The present invention also adopts a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of the above method are realized.

[0029] The present invention also adopts a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above method are realized.

[0030] Beneficial effects: Compared with the prior art, the remarkable advantage of the present invention is that it unifies the heterogeneous drone data formats through translation rules, realizes the unified access, unified control, and unified monitoring of heterogeneous drones. Through the control right preemption setting, it converts from the traditional one-to-one control fixed application mode to a flexible usage mode where the unmanned platform can be accessed randomly and the control relationship can be switched as needed. Description of the Drawings

[0031] Figure 1 It is a schematic diagram of the overall framework of the management system in the present invention.

[0032] Figure 2 It is a schematic diagram of the registration process of the access device in the present invention.

[0033] Figure 3 It is a schematic diagram of the single-machine control process in the present invention.

[0034] Figure 4 It is a schematic diagram of the group control process in the present invention.

[0035] Figure 5 Schematic diagram of the control right preemption process in the present invention.

[0036] Figure 6 Schematic diagram of the multi-server convergence management process in the present invention. Detailed implementation manners

[0037] As Figure 1 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 and interoperability among the network access management server, the control terminal, and the unmanned platform.

[0038] The network access management server includes an API management module, a scheduling management module, a convergence management module, a situation monitoring module, a configuration management module, and a communication access module. It supports cascaded convergence, 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, by accessing the network access management server, supports on-demand configuration and dynamic adjustment of the controlled unmanned platform. The unmanned platform access device is paired with the unmanned platform and, by accessing the network access management server, supports receiving instructions from the paired control terminal and reporting real-time status.

[0039] The API management module in the network access management server supports registering API management interfaces such as operation control, status monitoring, and exception alarm for heterogeneous UAVs and their payloads, and supports integrated call by the control terminal.

[0040] The API management interfaces include power-on data reporting, heartbeat link keep-alive, real-time data reporting, flight control, route control, payload data reporting, pan-tilt task control, pan-tilt remote control, etc. Through a unified data format, standardized access and management of heterogeneous UAVs are achieved.

[0041] The API management module realizes the translation of the data format of heterogeneous UAVs into a unified format by means of data interface protocol mapping. For UAVs with existing conversion rules, the translation rules are adaptively matched, and for UAVs that have not registered translation rules, a configuration tool is provided to register the protocol translation rules. The API management module adopts a flexible and extensible protocol framework to manage data format translation rules with a differential fusion middleware, realizing on-demand standardized access and management of heterogeneous UAVs.

[0042] The API translation module follows the data format requirements of API interfaces such as power-on data reporting, heartbeat link keep-alive, real-time data reporting, flight control, route control, payload data reporting, pan-tilt task control, pan-tilt remote control, etc., and converts the data of the control terminal and the unmanned platform to achieve standardized access and control.

[0043] The API translation module realizes the translation of heterogeneous UAV data formats into a unified format through the mapping of data interface protocols, adaptively matches translation rules according to information such as UAV models, and provides a configuration tool for UAVs without registered translation rules to register protocol translation rules. The API translation module adopts a flexible and extensible protocol framework, manages data format translation rules with a differential fusion middleware, and realizes the on-demand standardized access and management of heterogeneous UAVs. The translation rules contain information on which UAVs they can apply to. When a UAV is connected, the translation rules can be matched based on the UAV model. For new UAVs without registered translation rules, the configuration tool can recommend existing translation rules based on the existing translation rules and the data reported by the new UAV, and support manual correction to form new translation rules.

[0044] Power-on data reporting API: It supports the UAV to send the real equipment number and information to the control terminal, and the control terminal returns the virtual equipment number. The purpose is to hide the real equipment number, obtain the virtual number assigned by the platform, and realize the unification of data formats for heterogeneous UAVs. The data format is shown in the following table.

[0045] Table 1 Description of power-on reported data

[0046]

[0047] Heartbeat link keep-alive API: The UAV periodically sends a heartbeat packet to the control terminal at a frequency of 25HZ to keep alive, and the control terminal responds after receiving the heartbeat packet. If the equipment and the control terminal still cannot communicate after reaching the detection time, it is considered that the two parties have disconnected. The data format is shown in the following table.

[0048] Table 2 Description of data sent by the heartbeat link

[0049]

[0050] Real-time data reporting API: This message includes the real-time data of the UAV and its payload. After the unmanned equipment is powered on, it reports the basic information of the equipment in real time at a frequency of 1HZ, and the control terminal does not respond. The data format is shown in the following table.

[0051] Table 3 Description of equipment real-time reported data

[0052]

[0053] Flight control API: The 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 following table.

[0054] Table 4 Drone Flight Instruction Sending Data Description

[0055]

[0056] Route Control API: Used for the planning and setting of the drone's flight path. The data format is shown in the following table.

[0057] Table 5 Route Instruction Sending Data Description

[0058]

[0059] Payload Data Reporting API: The gimbal uses extra to achieve real-time reporting of payload status data. The data format is shown in the following table.

[0060] Table 6 Gimbal Real-time Reporting Data Description

[0061]

[0062] Gimbal Task Control Instructions are used to control the gimbal. The data format is shown in the following table.

[0063] Table 7 Gimbal Control Data Description

[0064]

[0065] Gimbal Remote Control Instructions are used to perform joystick control on the payload. The data format is shown in the following table.

[0066] Table 8 Gimbal Remote Control Data Description

[0067]

[0068] The scheduling management module supports the registration of access devices of the control terminal and the unmanned platform, and dynamically manages the affiliation relationship between the control terminal and the unmanned platform. It supports control methods such as one-to-one single control and one-to-many group control, and supports control right preemption. The main steps of scheduling management include:

[0069] As Figure 2 shown, access device registration supports the registration of access devices of the control terminal and the unmanned platform to the scheduling management module. The process is described in detail as follows:

[0070] Step 1-1, the access device of the control terminal or the unmanned platform interacts with the scheduling management module and sends a login request to the scheduling management module by inputting the username and password;

[0071] Step 1-2, after receiving the request, the scheduling management module obtains the user initialization configuration parameters from the configuration management module;

[0072] Step 1-3, the scheduling management module sends a login and authentication request to the configuration management module,

[0073] If the login and authentication information of the control terminal access device or the unmanned platform access device is correct, after receiving the request, the configuration management module returns the relevant identity authentication information and token to the scheduling management module. Otherwise, it returns a login failure, and the scheduling management module notifies the access device of the request result;

[0074] Steps 1-5, the unmanned platform access device determines whether the corresponding drone has registered translation rules. If not, it configures the translation rules to complete the access management of this type of drone;

[0075] Steps 1-6, after the control terminal access device or the unmanned platform access device logs in successfully, they interact through the scheduling management module.

[0076] Single drone control, single drone control supports the 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 sends a link establishment request to the network access management server. The network access management server acquires communication resources and connects to the unmanned platform. The unmanned platform responds to the link establishment request, and the control terminal receives the link establishment response, indicating that the connection is successfully established. The control terminal and the unmanned platform communicate control messages through the communication link negotiated during the link establishment process via the network access management server. In the pairing cancellation stage, the control terminal sends an end request to the network access management server. The network access management server reclaims the communication resources and notifies the unmanned platform that the task is over. The single drone control process is as Figure 3 shown.

[0077] Step 2-1, the control terminal sends a request to the network access management server through the control terminal access device to obtain the list of unmanned platforms and determines whether it has been bound and paired.

[0078] Step 2-2, send 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. The network access management server forwards the pairing request to the unmanned platform access device.

[0079] 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.

[0080] Step 2-4, unmanned platform control. The control terminal sends task instructions to the network access management server through the interface or joystick. 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 responses and real-time status through the unmanned platform access device.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] Step 4-1, the control terminal access device 2 sends a control right preemption request to the network access management server.

[0090] Step 4-2, the network access management server sends the preemption request to the control terminal access device 1 and the corresponding unmanned platform access device.

[0091] Step 4-3, the control terminal access device 1 and the corresponding unmanned platform access device reply with a control right preemption response. 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.

[0092] The convergence management module in the network access management server supports system expansion and upgrade by deploying multiple network access management servers. Each network access management server realizes data sharing and interaction between different servers through the convergence management module, supports the interaction between the control nodes and unmanned platform nodes under different servers, and supports cross-system single machine control, cross-system group control, and cross-system control right preemption. The convergence management process is as Figure 6 shown. Taking typical cross-system single machine control as an example, its operation steps include:

[0093] Step 5-1, device registration and data synchronization. The control terminal access device registers to the network access management server 1, and the unmanned platform access device registers to the network access management server 2. The network access management server 1 and the network access management server synchronize the registered device data, configuration data, etc.

[0094] 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.

[0095] 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.

[0096] Step 5-4, updating the pairing relationship. The network access management server 1 and the network access management server 2 update the pairing status list.

[0097] Step 5-5, control interaction. The control terminal access device forwards control instructions through the network access management server 1 and the network access management server 2 to realize the control information interaction with the unmanned platform access device.

[0098] The situation monitoring module in the network access management server supports monitoring the status information of the control terminal and the unmanned platform, and displays it in charts. It supports displaying the pairing relationship list, the status of the control terminal, the status of the unmanned platform, the server convergence status, and the comprehensive situation.

[0099] The pairing relationship list supports displaying pairing situations in a list, including fields such as pairing ID, grouping ID, drone ID, control terminal ID, unmanned platform access device ID, control terminal access device ID, pairing establishment time, pairing cancellation event, etc., and supports filtering and sorting according to the fields.

[0100] The control terminal status supports displaying the system-registered control terminals in a list, showing fields such as the current user ID, home server ID, control terminal ID, control terminal access device ID, registration time, heartbeat status, number of paired drones, etc., and supports filtering and sorting according to the fields.

[0101] The unmanned platform status supports displaying the system-registered unmanned platforms in a list, showing fields such as the current user ID, home server ID, unmanned platform ID, unmanned platform access device ID, registration time, heartbeat status, paired control terminal ID, etc., and supports filtering and sorting according to the fields.

[0102] The server convergence status supports displaying the convergence situation of the network access management servers in a list, showing fields such as server ID, server location, server status, number of registered control terminals, number of registered unmanned platforms, etc., and supports filtering and sorting according to the fields.

[0103] The comprehensive situation supports showing the positions and status information of control terminals and unmanned platforms in a map, displaying information such as drone coordinates, control terminal coordinates, drone status, control terminal status, etc. on the GIS map, and supports filtering and displaying targets through layers and area ranges.

[0104] The communication access module realizes interconnection and interoperability with other control terminal access devices, unmanned platform access devices, and network access management servers by accessing the operator's 4G / 5G base stations.

[0105] The control terminal access device and the unmanned platform access device are composed of modules such as API translation, scheduling management, and communication access.

[0106] The scheduling management module supports API interaction between the control terminal access device and the unmanned platform access device and the network access management server, and supports registration, single-unit control, group control, and control right preemption.

[0107] The communication access module supports access to the 4G / 5G operator network.

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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