Unmanned aerial vehicle ground station software architecture system and operation method

Abstract

The invention relates to an unmanned aerial vehicle ground station software architecture system and an operation method, and the system comprises a ground data terminal, a data receiving and transmitting module, a data processing module, a comprehensive monitoring module, a task planning module, an information processing module, and a publishing and subscribing module. The data transceiving module is used for receiving or sending information or control instructions of the unmanned aerial vehicle and the load from a ground data terminal; the data processing module is used for analyzing the received information or control instruction of the unmanned aerial vehicle and the load; the comprehensive monitoring module is used for displaying related information of the unmanned aerial vehicle and the load and generating a control instruction for controlling the unmanned aerial vehicle and the load; the task planning module is used for planning and generating a task route of the unmanned aerial vehicle; the intelligence processing module is used for calibrating effective intelligence information based on the analyzed information; and all the modules communicate with one another through the publishing and subscribing module. Compared with the prior art, the method has the advantages of loose coupling, real-time performance, high efficiency, high fault-tolerant capability and dynamic expansion.

Description

Technical Field

[0001] This invention belongs to the field of UAV ground station software technology, specifically relating to a UAV ground station software architecture system and its operation method. Background Technology

[0002] Ground station software is an important component of UAV systems, responsible for functions such as flight monitoring, payload monitoring, mission planning, intelligence reconnaissance, and situation building. Traditional ground station software architectures mostly adopt centralized or point-to-point communication methods, which have the following main problems: (1) High coupling: Modules are highly dependent on each other, making functional expansion and maintenance difficult. (2) Poor real-time performance: As the number of modules increases, communication complexity increases significantly, and response speed decreases. (3) Low fault tolerance: When a module fails, the entire software function may fail. Therefore, ground station software suffers from high coupling, poor real-time performance, and insufficient fault tolerance. Summary of the Invention

[0003] To overcome the aforementioned problems in the existing technology, the present invention provides a software architecture system and operation method for an unmanned aerial vehicle (UAV) ground station.

[0004] A software architecture system for an unmanned aerial vehicle (UAV) ground station includes: a ground data terminal, a data transceiver module, a data processing module, a comprehensive monitoring module, a mission planning module, an intelligence processing module, and a publish / subscribe module.

[0005] The data transceiver module is used to receive or send information or control commands from the UAV and payload from the ground data terminal.

[0006] The data processing module is used to parse the received information about the drone and payload; the integrated monitoring module is used to display the parsed information about the drone and payload, and generate control commands to control the drone and payload.

[0007] The mission planning module is used to plan and generate the mission flight path of the UAV based on the parsed information;

[0008] The intelligence processing module is used to identify valid intelligence information based on the parsed information;

[0009] The ground data terminal, data transceiver module, integrated monitoring module, mission planning module, data processing module, and intelligence processing module communicate with each other through a publish-subscribe module.

[0010] In addition to the aspects described above and any possible implementations, a further implementation is provided in which the publish-subscribe module adopts a publish-subscribe pattern, which uses TCP and UDP protocols for communication.

[0011] In addition to the aspects described above and any possible implementations, a further implementation is provided in which the publish-subscribe pattern includes a publisher, subscribers, and a central agent, wherein the publisher publishes a message; the central agent receives the message published by the publisher and distributes the message to the subscribers according to its stored list of subscribers; and the subscribers receive the message sent by the central agent.

[0012] In addition to the aspects described above and any possible implementation, a further implementation is provided in which the message includes a topic identifier, a message type, and a message payload. The topic identifier is used to indicate the topic to which the message belongs; the message type is used to mark the message as a data update, a status change, or an instruction type; and the message payload contains actual data content.

[0013] In addition to the aspects and any possible implementations described above, a further implementation is provided in which the data transceiver module, integrated monitoring module, task planning module, data processing module, or intelligence processing module acts as a publisher, subscriber, or central agent.

[0014] In addition to the aspects described above and any possible implementations, a further implementation is provided in which the publisher and the central agent communicate via the TCP protocol, and the central agent and the subscriber communicate via the UDP protocol.

[0015] In addition to the aspects and any possible implementations described above, a further implementation is provided in which the publisher and the central agent communicate via the TCP protocol, including: (1) the publisher connecting to the central agent;

[0016] (2) The publisher packages the generated data and sends it to the central agent via TCP protocol;

[0017] (3) The publisher receives the confirmation message from the central agent. If no confirmation message is received, it indicates that the sending has failed and the publisher chooses to resend.

[0018] In addition to the aspects and any possible implementations described above, a further implementation is provided in which the central agent and the subscriber communicate using the UDP protocol, including: (1) verifying the data received from the publisher;

[0019] (2) Use the UDP protocol to broadcast or unicast the verified data to subscribers;

[0020] (3) Maintain data cache during broadcast or unicast to respond to subscriber retransmission requests.

[0021] In addition to the aspects and any possible implementations described above, an implementation is further provided in which a subscriber receives broadcast or unicast data from the central agent, including: (1) receiving broadcast or unicast data using the UDP protocol, parsing the data, and storing the parsed data;

[0022] (2) If there is a problem with parsing, check the data integrity. If the data is lost, request the central agent to resend it via TCP protocol.

[0023] The present invention also provides a method for operating a UAV ground station software architecture system. The method is implemented using the system described above and includes the following steps: S1. After the ground data terminal is started, it communicates with the UAV or payload. The data transceiver module, the integrated monitoring module, the mission planning module, the data processing module, and the intelligence processing module register and initialize the publish-subscribe relationship.

[0024] S2. After receiving the telemetry data transmitted back from the ground data terminal, the data transceiver module publishes a corresponding topic message;

[0025] S3. The data processing module acts as a central agent to forward the topic messages to modules that have subscribed to the topic, enabling real-time processing and interaction.

[0026] Beneficial effects of the present invention

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The UAV ground station software architecture system of the present invention includes: a ground data terminal, a data transceiver module, a data processing module, a comprehensive monitoring module, a mission planning module, an intelligence processing module, and a publish / subscribe module. The data transceiver module is used to receive or send information or control commands of the UAV and payload from the ground data terminal; the data processing module is used to parse the information of the UAV and payload; the comprehensive monitoring module is used to display relevant information of the UAV and payload and generate control commands to control the UAV and payload; the mission planning module is used to plan and generate mission routes of the UAV; the intelligence processing module is used to identify effective intelligence information based on the parsed information; the ground data terminal, data transceiver module, comprehensive monitoring module, mission planning module, data processing module, and intelligence processing module communicate with each other through the publish / subscribe module, which adopts a publish / subscribe mode. The present invention has the following advantages compared with the prior art: (1) Loose coupling design: the publish / subscribe mode realizes the decoupling between modules, enhancing the system's scalability and maintainability. (2) Real-time and efficient: the message intermediary provides reliable message routing to ensure real-time data transmission. (3) Strong fault tolerance: the message caching and retransmission mechanism is adopted to ensure the normal operation of the system in the case of network instability or module failure. (4) Dynamically expandable: Supports adding new modules as needed to adapt to multi-task scenarios. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the overall structure of the present invention. Detailed Implementation

[0030] To better understand the technical solution of this invention, the content of this invention includes, but is not limited to, the specific embodiments described below. Similar technologies and methods should be considered within the scope of protection of this invention. To make the technical problems to be solved, the technical solutions, and advantages of this invention clearer, a detailed description will be provided below in conjunction with the accompanying drawings and specific embodiments.

[0031] It should be understood that the embodiments described in this invention are merely some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0032] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0033] like Figure 1 As shown, the present invention discloses a UAV ground station software architecture system, comprising: a ground data terminal, a data transceiver module, a data processing module, a comprehensive monitoring module, a mission planning module, an intelligence processing module, and a publish / subscribe module, wherein...

[0034] The data transceiver module is used to receive or send information or control commands from the UAV and payload from the ground data terminal.

[0035] The data processing module is used to analyze information from the UAV and its payload;

[0036] The integrated monitoring module is used to display relevant information about the UAV and payload, and to generate control commands for controlling the UAV and payload;

[0037] The mission planning module is used to plan and generate the mission flight path of the UAV based on the parsed information;

[0038] The intelligence processing module is used to identify valid intelligence information based on the parsed information;

[0039] The ground data terminal, data transceiver module, integrated monitoring module, mission planning module, data processing module, and intelligence processing module communicate with each other through a publish-subscribe module.

[0040] Furthermore, the publish-subscribe communication mode uses TCP and UDP protocols.

[0041] Furthermore, the publish-subscribe mechanism includes publishers, subscribers, and a central agent, wherein the publisher publishes a message; the central agent receives the message published by the publisher and distributes the message to the subscribers according to its stored subscriber list; and the subscribers receive the message sent by the central agent.

[0042] Furthermore, the message includes a topic identifier, a message type, and a message payload. The topic identifier is used to indicate the topic to which the message belongs; the message type is used to mark the message as a data update, status change, or instruction type; and the message payload contains the actual data content.

[0043] Furthermore, the data transceiver module, integrated monitoring module, task planning module, data processing module, or intelligence processing module act as publishers, subscribers, or central agents.

[0044] Furthermore, the publisher and the central agent communicate via the TCP protocol, while the central agent and the subscriber communicate via the UDP protocol.

[0045] Furthermore, the communication between the publisher and the central agent via the TCP protocol includes: (1) the publisher connecting to the central agent;

[0046] (2) The publisher packages the generated data and sends it to the central agent via TCP protocol;

[0047] (3) The publisher receives the confirmation message from the central agent. If no confirmation message is received, it indicates that the sending has failed and the publisher chooses to resend.

[0048] Furthermore, the communication between the central agent and the subscriber using the UDP protocol includes: (1) verifying the data received from the publisher;

[0049] (2) Use the UDP protocol to broadcast or unicast the verified data to subscribers;

[0050] (3) Maintain data cache during broadcast or unicast to respond to subscriber retransmission requests.

[0051] Furthermore, the subscriber receives broadcast or unicast data from the central agent, including: (1) receiving broadcast or unicast data using the UDP protocol, parsing the data, and storing the parsed data;

[0052] (2) If there is a problem with parsing, check the data integrity. If the data is lost, request the central agent to resend it via TCP protocol.

[0053] Specifically, the process of this invention is as follows:

[0054] The ground station software system includes the following functional modules:

[0055] (1) Data transceiver module: It is responsible for receiving telemetry data and reconnaissance information of UAV and payload from the ground data terminal. The payload is the mission equipment carried by the UAV, such as optoelectronic pod, radar, multispectral, etc. It can also send control commands, mission routes, telemetry data and reconnaissance data of UAV and payload generated by the integrated monitoring module and mission planning module to the ground data terminal. It also supports real-time data and historical data transmission.

[0056] (2) Data Processing Module: This module is responsible for subscribing to the raw data streams from the data transceiver module, parsing the raw telemetry status data and payload image data, generating decoded telemetry data, and sending it to the integrated monitoring module, mission planning module, and intelligence processing module. Simultaneously, this data processing module is also responsible for subscribing to remote control or control commands from the integrated monitoring module, reframing them, and having the data distribution module subscribe to and forward them to the ground data terminal.

[0057] (3) Integrated Monitoring Module: Responsible for subscribing to telemetry data decoded by the data processing module, displaying the UAV's flight status information, fault information of airborne avionics (electronic devices in the UAV flight control system), and telemetry information and images of the payload. Simultaneously, it publishes the generated UAV control commands, payload control commands, and mission planning commands to the data processing module.

[0058] (4) Mission Planning Module: This module is responsible for subscribing to decoded telemetry data from the data processing module to obtain the UAV's position information, payload field of view, etc.; simultaneously subscribing to intelligence information from the intelligence processing module to obtain the position information and attributes of reconnaissance targets; accessing external geographic information databases to obtain terrain elevation data; generating UAV mission planning routes and sending them to the integrated monitoring module. It can also display the UAV's position information, the reconnaissance target's position information, and the route's trajectory information.

[0059] (5) Intelligence processing module: It is responsible for subscribing to the decoded telemetry data of the data processing module, obtaining the status information of the UAV, the status information of the payload, and the payload image. Then, it uses digital image processing technology to identify the effective intelligence information from the above information or image, sends it to the mission planning module, and integrates multi-source intelligence information to generate the battlefield situation.

[0060] (6) Publish / Subscribe Module: This module employs a publish / subscribe communication model, enabling communication between the various modules and data transmission on a topic-by-topic basis. This model achieves loosely coupled communication between modules through a unified publish / subscribe pattern, resulting in excellent scalability and fault tolerance. Modules can be flexibly added or removed without modifying existing module logic. The publish / subscribe module is an independently deployed service module. Its central agent manages all topics, receives publisher messages, distributes them to subscribers, and provides caching and retransmission services. When adding a module, simply declare its subscribed and published topics to join the system; this does not affect existing modules. If a module is no longer needed, it can be unsubscribed without affecting the operation of other modules.

[0061] The mechanisms for publish-subscribe communication include:

[0062] (1) Publisher:

[0063] Responsible for generating and sending topic messages, ensuring that messages are reliably delivered to subscribers.

[0064] (2) Central Broker:

[0065] It is responsible for receiving messages from publishers and distributing them to subscribers via UDP protocol according to the subscriber list, while also providing subscription management and data reliability assurance.

[0066] (3) Subscriber:

[0067] It receives and processes topic messages from the central agent, receives real-time pushed data via UDP protocol, and supports data verification and compensation mechanisms based on TCP protocol.

[0068] The data sending and receiving module, data processing module, integrated monitoring module, task planning module, and intelligence processing module can all be either publishers or subscribers.

[0069] Message Protocol Design

[0070] Employing the lightweight MQTT (Message Queuing Telemetry Transport) protocol, it supports QoS level control and is suitable for low-bandwidth, high-latency environments. A topic mechanism enables rapid data distribution, meeting the real-time and efficiency requirements of UAV missions. Each subscribed or published message includes the following structure fields:

[0071] Topic ID: Uniquely identifies the topic to which the message belongs, such as "raw telemetry data" or "mission route".

[0072] Message Type: Marks the type of message, such as "data update", "status change" or "instruction";

[0073] Message payload: Contains actual data content, and the format can be flexibly defined according to requirements, such as telemetry parameters, image data, command strings, etc.

[0074] Key Functionality Implementation

[0075] (1) Data publishing: Each module generates data according to its internal logic and publishes it to the corresponding topic through a message intermediary. For example, after receiving UAV telemetry data, the data receiving module publishes it to the topic of "raw telemetry data".

[0076] (2) Data subscription: The module subscribes to relevant topics as needed and parses the data messages in the data domain. For example, the task planning module subscribes to "decode telemetry data" to obtain the real-time location of the UAV.

[0077] (3) Message distribution: The central agent acts as a message intermediary, maintains a list of subscribers, and distributes messages to relevant subscription modules via UDP broadcast or unicast according to the subscription relationship. If a subscriber is not in the list, it will not receive the message for that topic.

[0078] Fault tolerance and dynamic expansion

[0079] Fault tolerance mechanism: Message caching and retransmission are implemented through message intermediaries to prevent data loss due to module failure or network interruption. For example, if the integrated monitoring module does not receive a certain frame of telemetry data, it requests retransmission from the central agent via TCP protocol; the central agent queries the cache and re-pushes the data packet, etc.

[0080] Dynamic expansion: The system has good scalability. Adding a new module only requires configuring its subscription and publishing topics, without affecting the operation of existing modules. For example, to add an image enhancement module, you only need to subscribe to the "raw telemetry data" topic and publish the "enhanced image" topic.

[0081] Use of TCP and UDP protocols

[0082] The publisher and the central agent use the TCP protocol for reliable data transmission, and support message acknowledgment and retransmission.

[0083] The central agent and subscribers use the UDP protocol for real-time broadcast / unicast, reducing latency.

[0084] The subscriber and the central agent use the TCP protocol to ensure data integrity and for message retransmission.

[0085] Module Interaction Details:

[0086] Initialization phase

[0087] (1) The publisher establishes a connection with the central agent:

[0088] The publisher establishes a long-lived connection with the central agent via the TCP protocol to ensure a stable data channel for data transmission.

[0089] (2) The subscriber sends a subscription request to the central agent:

[0090] Subscribers send subscription requests to the central agent via the UDP protocol, carrying their unique identifier (IP address), and the central agent records the subscriber information in the subscriber list.

[0091] (3) Subscription confirmation feedback from the central agent:

[0092] After receiving a subscription request, the central agent sends a subscription confirmation to the subscriber via the UDP protocol to notify them that the subscription has been successful. If the publisher does not receive a confirmation within the specified time, it will automatically resend the confirmation.

[0093] Data release phase

[0094] (1) The publisher pushes data to the central agent:

[0095] The publisher sends data to the central agent via the TCP protocol. The central agent parses the received data and verifies it, such as through checksum verification or other methods. This invention does not impose any restrictions on this.

[0096] (2) Data distribution by the central agent:

[0097] The central agent distributes the received data to all subscribers via UDP broadcast or unicast, based on the subscriber list.

[0098] (3) Subscribers receive and process data:

[0099] Subscribers receive data packets broadcast or unicast by the central agent via the UDP protocol. If a data packet is lost or incomplete, a retransmission request is sent to the central agent via the TCP protocol.

[0100] Data reliability and error handling

[0101] (1) Publisher-side retransmission mechanism:

[0102] After pushing data, the publisher waits for the central agent to send back a confirmation message via TCP protocol. If no confirmation message is received within the specified time or a failure message is received, the publisher will resend the data to the central agent.

[0103] (2) Subscriber-side compensation mechanism:

[0104] When a subscriber detects data loss or errors in a data packet, it requests the central agent to resend the corresponding data packet via the TCP protocol.

[0105] (3) Central agent data caching:

[0106] The central agent caches published data within a recent time range to quickly respond to subscribers' resend requests.

[0107] The data packets include:

[0108] (1) Header: Contains the message type (such as subscription request, data packet, acknowledgment message, etc.);

[0109] (2) Body: Contains message payload, which is the actual business data and timestamp, used for synchronization and processing.

[0110] The Publisher module is responsible for generating business data and pushing it to the central agent via the TCP protocol.

[0111] The implementation steps are as follows:

[0112] (1) The publisher uses the TCP protocol to create a long-lived connection with the central proxy;

[0113] (2) After the data is generated, it is packaged and sent to the central agent via TCP protocol;

[0114] (3) Receive confirmation messages from the central agent; if the confirmation fails, resend the message.

[0115] The central broker module maintains the subscriber list, receives data from publishers, and distributes it to subscribers. Its implementation steps are as follows:

[0116] (1) Use the TCP protocol to receive data from the publisher and verify it.

[0117] (2) Use the UDP protocol to broadcast or unicast data to subscribers;

[0118] (3) Maintain data cache to support subscribers’ retransmission requests.

[0119] The Subscriber module receives data transmitted via UDP from the central agent. If data is lost, it requests retransmission via TCP. Its implementation steps are as follows:

[0120] (1) Use UDP to receive data packets, parse and store them.

[0121] (2) Check data integrity by checking the verification code. If data is lost, request compensation via TCP.

[0122] 2. Module Interaction Examples

[0123] Data transceiver module: Receives telemetry data transmitted from the ground data terminal and publishes it to the topic "Raw Telemetry Data"; subscribes to the topic "Raw Remote Control Data" to receive remote control data sent by the integrated monitoring module and forwards it to the ground data terminal. Data processing module: Subscribes to the topic "Raw Telemetry Data" to parse the telemetry data and publishes the parsed data to the topic "Decoded Telemetry Data"; subscribes to the topic "Remote Control Data to be Sent," receives the remote control data, reframes it, and publishes it to the topic "Raw Remote Control Data".

[0124] Intelligence Processing Module: Subscribe to the topic "Decoding Telemetry Data", obtain the status information of the UAV, the status information of the payload, and the payload images, and then use digital image processing technology to generate intelligence data and publish it to the topic "Intelligence Information".

[0125] Mission planning module: Subscribe to the topic "Decoding Telemetry Data" to display the UAV's location information and payload field of view; subscribe to the topic "Intelligence Information" to display the location and attributes of intelligence; generate mission planning flight paths and publish them to the topic "Mission Flight Paths".

[0126] Integrated monitoring module: Subscribe to the topic "Decoding Telemetry Data" to display aircraft status information and avionics equipment fault information, display payload images and payload status; publish UAV control commands, payload control commands and mission planning commands to the topic "Remote Control Data to be Sent".

[0127] System operation process

[0128] (1) After the ground station software starts, each module registers and initializes the publish-subscribe relationship;

[0129] (2) After receiving the telemetry data transmitted back from the ground data terminal, the data transceiver module publishes it to the corresponding topic;

[0130] (3) The publish-subscribe module uses the publish-subscribe pattern to forward messages to modules that have subscribed to the topic, enabling real-time processing and interaction. For example, the publish-subscribe module receives telemetry data from the publisher and distributes it to all modules that have subscribed to "raw telemetry data", such as the data processing module and the intelligence processing module. The data processing module parses the telemetry data and publishes it to "decoded telemetry data". The intelligence processing module processes the images and publishes them to "intelligence information". The mission planning module subscribes to the above data, generates mission routes and publishes them to "mission routes". The integrated monitoring module subscribes to telemetry data and intelligence information, displays the status and generates control commands. The control commands are sent to the ground data terminal by the data transceiver module through the "remote control data to be sent" topic.

[0131] As an embodiment of the present invention, the present invention also discloses a method for operating a UAV ground station software architecture system. The method is implemented using the system described above and includes the following steps: S1. After the ground data terminal is started, it communicates with the UAV or payload. The data transceiver module, the integrated monitoring module, the mission planning module, the data processing module, and the intelligence processing module register and initialize the publish-subscribe relationship.

[0132] S2. After receiving the telemetry data transmitted back from the ground data terminal, the data transceiver module publishes a corresponding topic message;

[0133] S3. The data processing module acts as a central agent to forward the topic messages to modules that have subscribed to the topic, enabling real-time processing and interaction.

[0134] The foregoing description illustrates and describes several preferred embodiments of the present invention. However, as previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A software architecture system for an unmanned aerial vehicle (UAV) ground station, characterized in that, The system includes: a ground data terminal, a data transceiver module, a data processing module, a comprehensive monitoring module, a mission planning module, an intelligence processing module, and a publish / subscribe module. The data transceiver module is used to receive or send information or control commands from the UAV and payload from the ground data terminal. The data processing module is used to parse the received information from the drone and payload; The integrated monitoring module is used to display the relevant information of the analyzed UAV and payload, and generate control commands to control the UAV and payload; The mission planning module is used to plan and generate the mission flight path of the UAV based on the parsed information; The intelligence processing module is used to identify valid intelligence information based on the parsed information; The ground data terminal, data transceiver module, integrated monitoring module, mission planning module, data processing module, and intelligence processing module communicate with each other through a publish-subscribe module.

2. The system according to claim 1, characterized in that, The publish-subscribe module adopts a publish-subscribe pattern, which uses TCP and UDP protocols for communication.

3. The system according to claim 2, characterized in that, The publish-subscribe model includes publishers, subscribers, and a central agent, wherein the publisher publishes a message; the central agent receives the message published by the publisher and distributes the message to the subscribers according to its stored subscriber list; and the subscribers receive the message sent by the central agent.

4. The system according to claim 3, characterized in that, The message includes a topic identifier, a message type, and a message payload. The topic identifier is used to indicate the topic to which the message belongs; the message type is used to mark the message as a data update, status change, or instruction type; and the message payload contains the actual data content.

5. The system according to claim 3, characterized in that, The data transmission and reception module, integrated monitoring module, task planning module, data processing module, or intelligence processing module act as publishers, subscribers, or central agents.

6. The system according to claim 5, characterized in that, The publisher and the central agent communicate via the TCP protocol, while the central agent and the subscriber communicate via the UDP protocol.

7. The system according to claim 6, characterized in that, The communication between the publisher and the central agent via the TCP protocol includes: (1) the publisher connecting to the central agent; (2) The publisher packages the generated data and sends it to the central agent via TCP protocol; (3) The publisher receives the confirmation message from the central agent. If no confirmation message is received, it indicates that the sending has failed and the publisher chooses to resend.

8. The system according to claim 6, characterized in that, The communication between the central agent and the subscriber via the UDP protocol includes: (1) verifying the data received from the publisher; (2) Use the UDP protocol to broadcast or unicast the verified data to subscribers; (3) Maintain data cache during broadcast or unicast to respond to subscriber retransmission requests.

9. The system according to claim 8, characterized in that, Subscribers receive broadcast or unicast data from the central agent, including: (1) receiving broadcast or unicast data using the UDP protocol, parsing the data, and storing the parsed data; (2) If there is a problem with parsing, check the data integrity. If the data is lost, request the central agent to resend it via TCP protocol.

10. A method for operating a UAV ground station software architecture system, characterized in that, The method is implemented using the system described in any one of claims 1-9, and includes the following steps: S1. After the ground data terminal is started, it communicates with the UAV or payload, and the data transceiver module, integrated monitoring module, mission planning module, data processing module and intelligence processing module register and initialize publish-subscribe relationship; S2. After receiving the telemetry data transmitted back from the ground data terminal, the data transceiver module publishes a corresponding topic message; S3. The data processing module acts as a central agent to forward the topic messages to modules that have subscribed to the topic, enabling real-time processing and interaction.

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