EVTOL aircraft ground control device based on multi-link adaptation and response mechanism

Abstract

The invention discloses an eVTOL aircraft ground control device based on a multi-link adaptation and response mechanism, and belongs to the technical field of eVTOL aircraft communication and control. The device comprises an instruction distribution module, a multi-link management module, a frame construction module and an error control module. The instruction distribution module is responsible for cooperating with eVTOL aircraft information to send a corresponding flight control instruction according to an actual condition; the multi-link management module evaluates a plurality of communication links (including a main link, a standby link and an emergency link) in real time and is used for sending different instructions; the frame construction module constructs an extended interactive data frame based on the MAVLink protocol, and the data frame comprises a plurality of control fields for control; the device also has an error control mechanism, and a closed-loop control system is completed through the mechanism. Through the method, the instruction reliability of the ground control station in a complex communication environment and the stability of an eVTOL aircraft system can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of eVTOL aircraft communication and control technology, and specifically designs a ground station control device based on multi-link dynamic scheduling and adaptive error control, which is suitable for the eVTOL aircraft communication field. Background Art

[0002] With the widespread application of eVTOL aircraft systems in civil and industrial fields, the communication reliability and real-time control performance of ground control stations (GCS) as core components for command issuance and flight control are becoming increasingly important. On the one hand, traditional ground control stations usually communicate with eVTOL aircraft through a single wireless link. The ground station needs to transmit a variety of commands, such as flight commands, status parameters, mission parameters, etc., especially in complex airspace. The wireless communication link will be severely interfered with, often resulting in command packet loss, increased latency, and even communication interruption. On the other hand, existing technologies often adopt a simple "send-wait ACK-retransmit" strategy, which cannot be dynamically adjusted according to command priority and link status, lacking specificity and adaptability.

[0003] Existing ground control systems mostly use the MAVLink communication protocol for flight control command exchange. While it offers advantages such as a clear structure and support for custom messages, in practice, its frame structure provides limited support for scenarios such as link management, command prioritization, and error handling. In real-world high-reliability applications, existing solutions struggle to support dynamic link evaluation, error detection, and multi-link retransmission mechanisms, limiting the system's adaptability in complex environments.

[0004] To address this, a ground station control device that dynamically regulates link transmission and provides error control mechanisms is more suitable for existing needs. In particular, a closed-loop control mechanism is required, where the ground control station sends commands, the eVTOL aircraft receives and responds, and the ground control station dynamically adjusts and optimizes link transmission. These issues have seriously impacted the reliability and efficiency of eVTOL aircraft. Summary of the Invention

[0005] In view of this, an embodiment of the present invention provides an eVTOL aircraft ground control device based on a multi-link adaptation and response mechanism, aiming to solve the problems of single link, lack of dynamic scheduling and adaptive error control in existing ground control systems when facing complex communication environments.

[0006] For this purpose, the present invention adopts the following technical solutions:

[0007] The eVTOL aircraft ground control device based on the multi-link adaptation and response mechanism proposed in this patent includes the following modules:

[0008] Command Distribution Module: This module prioritizes and schedules flight control commands generated by the ground station. By assigning priority tags, high-priority commands are forcibly dispatched to the emergency link, skipping the regular link evaluation process to ensure the rapid and prioritized transmission of critical commands.

[0009] Multi-Link Management Module: This module monitors multiple communication links—including the primary link, backup link, and emergency link—in real time, assesses their transmission quality, and selects the link with the best communication quality for data frame transmission based on the priority of flight control commands. The Link Management Module also dynamically updates link status based on feedback from the eVTOL aircraft.

[0010] Frame Building Module: This module, based on the MAVLink 2.0 protocol, extends the control fields in the payload area of ​​the data frame through a custom message mechanism. These fields include priority, frame sequence number, link identifier, whether a response is required, whether it is a retransmission frame, the number of retransmissions, mission payload, and error checking, providing support for the system to implement error control, link switching, and command confirmation.

[0011] Error Control Module: This module tracks the status of data frames and determines whether the eVTOL aircraft has returned an ACK response. If an ACK is not received within the configured maximum retransmission time, the module triggers a retransmission mechanism, records the number of retransmissions, and automatically switches to a backup or emergency link for retransmission if the maximum number of retransmissions, N, is exceeded. The system also marks each retransmitted frame for identification and processing by the eVTOL aircraft to prevent duplicate acknowledgments.

[0012] As an eVTOL aircraft ground control device based on a multi-link adaptation and response mechanism, the workflow of this patent includes five stages: command distribution and priority judgment, multi-link evaluation and selection, MAVLink frame construction and field expansion, error detection and retransmission control, feedback loop closure and link status update. It mainly includes the following steps:

[0013] Step 1: Instruction distribution and priority determination

[0014] Step S1.1: The ground control station generates flight control instructions and prioritizes the instructions based on the mission type and current system status, such as normal instructions, medium priority instructions, or emergency control instructions.

[0015] Step S1.2: Scheduling instructions of different priorities. High-priority instructions can trigger a dedicated sending channel strategy. For example, a forced return instruction needs to be scheduled to the emergency link.

[0016] Step 2: Multi-link evaluation and selection

[0017] Step S2.1: The multi-link management module continuously monitors the real-time communication status of multiple communication links and forms a priority link table based on the link quality;

[0018] Step S2.2: The instruction distribution module decides to use the corresponding link to send the current data frame based on the instruction priority and the link priority;

[0019] Step S2.3: If the current link is abnormal or judged to be unavailable, the system automatically switches to an available backup link or emergency link;

[0020] Step 3: MAVLink frame construction and field expansion

[0021] Step S3.1, the frame construction module constructs a data frame based on the MAVLink 2.0 protocol structure and defines the data frame using a custom message mechanism;

[0022] Step S3.2: Embed control fields in the payload area, including but not limited to: priority (priority field, identifying instruction priority), seq_number (frame sequence number field, uniquely identifying the current instruction), link_id (link identification field, identifying link classification), ack_required (response required field, identifying whether a response is required), is_retransmit (retransmit mark field, identifying whether it is a retransmitted data frame), retry_count (retransmission count field, identifying the number of retransmissions of the current frame), command_data (task payload field, identifying the flight control task instruction), crc (check field, checking the integrity of the data frame);

[0023] Step S3.3: Perform byte alignment and CRC check on the frame structure to ensure integrity;

[0024] Step 4: Error detection and retransmission control

[0025] Step S4.1: After the command frame is sent to the eVTOL aircraft via the selected link, the error control module monitors the ACK confirmation frame returned by the aircraft within the set maximum retransmission time and performs frame sequence number (seq_number) matching;

[0026] Step S4.2: If the ACK matches successfully, the link evaluation status is updated and the current instruction process ends;

[0027] Step S4.3: If the ACK is not received within the timeout period, the following processing logic is executed: the is_retransmit field of the current frame is marked as 1, and the retry_count field is incremented by 1. If the retry_count does not exceed the maximum retransmission count N, the frame is retransmitted on the original link. If the retry_count does not exceed the maximum retransmission count N, the frame is automatically ... frame is retransmitted on all links, the frame is retransmitted on all links. If all links fail, the frame is retransmitted on all links. The frame is retransmitted on all links. The frame is retransmitted on all links. The frame is retransmitted on all links. If all links fail, the frame is retransmitted on all links. The frame is retransmitted on all links. The frame is retransmitted on all links. The frame is retransmitted on all links. The frame is retransmitted on all links. The frame is retransmitted on all links.

[0028] Step 5: Feedback loop and link status update

[0029] Step S5.1: The multi-link management module updates the real-time communication quality evaluation table of the corresponding link according to the ACK response time and packet loss information;

[0030] Step S5.2: The instruction distribution module adjusts the link scheduling strategy for future instructions according to the link status to form a closed-loop control system.

[0031] Compared with the existing technology, the present invention adopts the above technical solution and has the following technical effects:

[0032] This invention effectively addresses the current lack of stability in ground control terminals through a comprehensive mechanism of "dynamic link adaptation + command priority scheduling + enhanced frame structure + adaptive error control," significantly improving the efficiency and reliability of ground control systems in complex communication environments. Through a modular architecture and closed-loop control system, the timeliness, accuracy, and safety of ground station command issuance are effectively improved. By enhancing the authenticity and safety of the immersive eVTOL driving experience and optimizing cost control capabilities, this device lays the foundation for large-scale implementation, thereby accelerating the transition of the low-altitude economy from the experimental stage to commercial application. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is the overall flow chart of an embodiment of the present invention, and the four modules cooperate with each other to complete the process.

[0034] Figure 2 This is an extended frame structure according to an embodiment of the present invention, including a display of an extended field.

[0035] Figure 3 This is the workflow of the error control module in an embodiment of the present invention. DETAILED DESCRIPTION

[0036] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0037] like Figure 1 As shown, an embodiment of the present invention is a ground control system for an eVTOL aircraft based on a multi-link adaptation and response mechanism. The system comprises four functional modules: a command distribution module, a multi-link management module, a frame construction module, and an error control module. The command distribution module first generates prioritized flight control commands, which are then passed to the multi-link management module to evaluate the quality of the currently available communication links and select the appropriate link to transmit data frames. The frame construction module constructs data frames containing extension fields according to the MAVLink 2.0 protocol specification, while the error control module performs ACK and retransmission processing on the transmitted data frames, forming a complete closed-loop control link.

[0038] The device operates as follows: First, the command dispatch module generates different flight control commands and prioritizes them, creating a corresponding priority-tagged flight control command queue. The flight control commands are then transmitted to the multi-link management module, which monitors the real-time status parameters of multiple communication links simultaneously and creates a link priority table related to communication quality. Based on the current command priority and link status, the module selects the most appropriate link to dispatch the command. The frame construction module embeds the corresponding fields in the data frame based on the content of the flight control command and the link status of the multi-link management module. The data frame then enters the wireless network for transmission. The ground control station continuously monitors for receipt of the corresponding frame's acknowledgment. If the corresponding ACK frame is received from the eVTOL aircraft within the set maximum retransmission time, the ground control station reports the link quality to the link management module. If the ACK frame is not received within the specified maximum retransmission time, the ground control station executes the appropriate retransmission mechanism to ensure the current frame is received as soon as possible.

[0039] Optionally, the command priorities are divided into three categories, namely ordinary commands (such as conventional ascent commands, turning commands), priority commands (such as multiple retransmission commands), and emergency commands (such as emergency landing commands, return commands).

[0040] Optionally, the corresponding link management module also divides links into three categories, namely, normal links, backup links and emergency links.

[0041] like Figure 2As shown, the frame extension module of the embodiment of the present invention constructs a data frame based on the MAVLink 2.0 protocol structure and defines the data frame using a custom message mechanism. The present invention extends multiple fields on the basis of the original MAVLink data frame, including but not limited to priority (priority field, identifying instruction priority), seq_number (frame sequence number field, uniquely identifying the current instruction), link_id (link identification field, identifying link classification), ack_required (response required field, identifying whether a response is required), is_retransmit (retransmit mark field, identifying whether it is a retransmitted data frame), retry_count (retransmission count field, identifying the number of retransmissions of the current frame), command_data (task payload field, identifying the flight control task instruction), crc (check field, checking the integrity of the data frame). Through the combined extension of these fields, the ground control system can realize frame-level error control, instruction priority identification, and link identification functions.

[0042] Optionally, the extended frame also reserves several fields to facilitate subsequent expansion of other functions, but they are not drawn in the figure, and only the reserved field area is marked.

[0043] like Figure 3 As shown, the error control module of the embodiment of the present invention needs to perform ACK confirmation tracking on the flight control command frame sent. If the confirmation information of the corresponding frame is received within the set maximum retransmission time, the link status used by the current frame is fed back to the link management module to update the actual communication status of the link; if the confirmation information of the corresponding frame is not received within the set maximum retransmission time, the corresponding retransmission mechanism is executed: the whether to retransmit field (is_retransmit) of the current frame is set to 1, and the number of retransmissions field (retry_count) is increased by 1. If the number of retransmissions field (retry_count) does not exceed the maximum number of retransmissions N, it is retransmitted on the original link. If it has exceeded the maximum number of retransmissions N, it is necessary to switch the link (backup / emergency) and resend. If all links fail, the failure status and link diagnostic information are fed back to the upper module. This logical process effectively guarantees the reliable delivery of task instructions and improves communication robustness through a multi-level link retransmission mechanism.

[0044] Optionally, the multi-link management module updates the real-time quality assessment table of the corresponding link based on the ACK response time and packet loss information. Regardless of whether the flight control command frame is successfully received, it can reflect the status of the link in use and can be used by the link management module to update the link status.

[0045] Optionally, the instruction distribution module also needs to adjust the link scheduling strategy of future instructions according to the link status to form a closed-loop control system.

[0046] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. An eVTOL aircraft ground control device with a multi-link adaptation and response mechanism, used to send flight control instructions to the eVTOL aircraft and provide an error control mechanism, characterized in that: Includes the following modules: The instruction dispatch module is used to determine the priority of the current instruction and schedule different instructions; The multi-link management module is used to monitor and manage multiple links in real time, perform quality assessments on different links, and select the appropriate link to transmit the command information frame based on the priority of the command; The frame construction module is used to construct data frames that conform to the MAVLink 2.0 protocol format and extend the control field in the payload area to complete the required error control, command priority identification, and link identification functions; The error control module is used to continuously track the sent data frames, confirm whether the feedback from the eVTOL aircraft has been received, and execute the retransmission mechanism when an error occurs to ensure the reliable delivery of instructions.

2. The eVTOL aircraft ground control device with a multi-link adaptation and response mechanism according to claim 1, characterized in that: The instruction distribution module needs to complete the flight control instruction priority judgment and instruction scheduling work. Specifically, it needs to prioritize the flight control instructions that need to be issued according to different actual situations, and force high-priority instructions to be sent through the emergency link, bypassing the regular link evaluation process.

3. The eVTOL aircraft ground control device with a multi-link adaptation and response mechanism according to claim 2, characterized in that: The instruction distribution module includes an instruction scheduling unit and a link selection unit. The instruction scheduling unit is used to receive the flight control instructions generated by the ground control device and assign corresponding instruction priority tags; the link selection unit is used to select the link with the best communication quality for transmission based on the instruction priority and the link quality evaluation results provided by the multi-link management module.

4. The eVTOL aircraft ground control device with a multi-link adaptation and response mechanism according to claim 1, characterized in that: The multi-link management module needs to monitor and manage multiple links in real time and evaluate the communication quality of different links. Here, the links are divided into three categories: main links, backup links, and emergency links. Different links are selected for transmission based on the instruction priority of real-time evaluation. At the same time, the module can also update the link evaluation based on the feedback of the sent data frames.

5. The eVTOL aircraft ground control device with a multi-link adaptation and response mechanism according to claim 1, characterized in that: The frame building module is compatible with the MAVLink 2.0 protocol format and embeds the required control fields into the payload area of ​​the data frame. It is defined through the MAVLink custom message mechanism to complete the required error control, command priority identification, and link identification functions.

6. The eVTOL aircraft ground control device with a multi-link adaptation and response mechanism according to claim 5, characterized in that: The extended fields in the extended frame include but are not limited to priority (priority field, identifying instruction priority), seq_number (frame sequence number field, uniquely identifying the current instruction), link_id (link identification field, identifying link classification), ack_required (response required field, identifying whether a response is required), is_retransmit (retransmit mark field, identifying whether it is a retransmitted data frame), retry_count (retransmission count field, identifying the number of retransmissions of the current frame), command_data (task payload field, identifying flight control task instructions), crc (check field, checking the integrity of the data frame). In addition, the design of the extended frame also retains some fields to facilitate the expansion of other functions.

7. The eVTOL aircraft ground control device with a multi-link adaptation and response mechanism according to claim 1, characterized in that: The error control module needs to continuously track the data frames sent. If the data frame is successfully received and an acknowledgment frame is returned, the module only returns the link assessment to the multi-link adaptation module. If an error occurs in the data frame and no acknowledgment frame is received, the error situation needs to be returned to the instruction distribution module to execute the corresponding retransmission mechanism.

8. The eVTOL aircraft ground control device with a multi-link adaptation and response mechanism according to claim 1, characterized in that: The error control module includes an ACK monitoring unit, which is used to monitor the response frame from the eVTOL aircraft after the data frame is sent and match and confirm it according to the frame sequence number; a retransmission logic unit, which is used to execute the retransmission process according to a predefined number of times and update the retransmission count when no ACK confirmation frame is received within the set timeout period, and switch to other backup links or emergency links to continue transmitting mission instructions when the main link is not applicable or the delay is too high.

9. The eVTOL aircraft ground control device with a multi-link adaptation and response mechanism according to claim 8, characterized in that: The retransmission steps performed by the error control module are as follows: S1. Frame sequence number matching: Each flight control command frame carries a unique sequence number (seq_num). After receiving the data frame, the eVTOL aircraft sends an ACK response with the sequence number. A unique flight control command frame corresponds to a unique acknowledgment frame. S2. Timeout monitoring and retransmission count: If no ACK response is received within the set maximum retransmission time, the current flight control command frame enters the retransmission queue and the retransmission count (retry_count) is updated; S3, Maximum number of retransmissions N: For the same frame, if the maximum number of retransmissions N exceeds the threshold, the following operations are performed: if there is a backup link, switch the link and resend; if it is a high-priority instruction, switch to the emergency link for transmission; If it fails all the time, the command failure status is reported and handed over to the multi-link management module to update the link quality.

10. The eVTOL aircraft ground control device with a multi-link adaptation and response mechanism according to claim 9, characterized in that: Each specific retransmitted frame needs to set the retransmit mark field (is_retransmit) to 1 for the eVTOL aircraft to confirm whether the current frame is a retransmitted frame. At the same time, the eVTOL aircraft also needs to check the sequence number field (seq_num) to prevent repeated ACK command confirmation.

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