Unmanned aerial vehicle control method and device based on swan gap system

Abstract

The invention discloses an unmanned aerial vehicle control method and device based on a swan gap system, and relates to the technical field of unmanned aerial vehicle control, and the method comprises the steps: constructing a basic control framework, calling a hierarchical decoupling strategy, and carrying out the hierarchical decoupling design processing on the basic control framework, and obtaining a ground controller; designing an intelligent control module group by taking a target application feature of a target unmanned aerial vehicle as a constraint, and integrating the intelligent control module group to the ground controller to obtain a target controller; and controlling the target unmanned aerial vehicle through the target controller. The technical problems of insufficient control security and low cluster cooperative control efficiency caused by incomplete decoupling of hardware and software and protocol and flight control binding in unmanned aerial vehicle control in the prior art are solved, and hierarchical decoupling and intelligent cooperation of unmanned aerial vehicle control are realized. And the control safety and the cooperation efficiency of the unmanned aerial vehicle are improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) control technology, and specifically to a UAV control method and device based on the HarmonyOS system. Background Technology

[0002] In existing UAV control systems, hardware and software, as well as control protocols and flight control systems, are strongly bound together. This results in significant modifications to the control logic when hardware is replaced or the flight control system is upgraded, leading to poor compatibility and scalability. At the same time, the lack of robust security mechanisms during control makes it prone to problems such as unauthorized access, command tampering, and data leakage. Furthermore, it is inefficient in cluster collaborative control and cannot meet the precise control requirements of complex application scenarios.

[0003] Existing technologies suffer from technical problems such as incomplete decoupling between hardware and software, and between protocols and flight control in drone control, leading to insufficient control security and low efficiency in swarm collaborative control. Summary of the Invention

[0004] This application provides a drone control method and device based on the HarmonyOS system, which addresses the technical problems in existing drone control technologies, such as incomplete decoupling between hardware and software, and between protocols and flight control, leading to insufficient control security and low efficiency of cluster collaborative control.

[0005] In view of the above problems, this application provides a method and device for controlling unmanned aerial vehicles based on the HarmonyOS system.

[0006] The first aspect of this application provides a method for controlling a drone based on the HarmonyOS system, the method comprising: A basic control framework is constructed, and a hierarchical decoupling strategy is invoked to perform hierarchical decoupling design processing on the basic control framework to obtain a ground controller; an intelligent control module group is designed with the target application characteristics of the target UAV as constraints, and the intelligent control module group is integrated into the ground controller to obtain a target controller; the target UAV is controlled through the target controller.

[0007] A second aspect of this application provides a drone control device based on the HarmonyOS system, the device comprising: The ground controller acquisition module is used to construct a basic control framework and invoke a hierarchical decoupling strategy to perform hierarchical decoupling design processing on the basic control framework to obtain a ground controller; the target controller acquisition module is used to design an intelligent control module group with the target application characteristics of the target UAV as constraints, and integrate the intelligent control module group into the ground controller to obtain a target controller; the UAV control module is used to control the target UAV through the target controller.

[0008] One or more technical solutions provided in this application have at least the following technical effects or advantages: A basic control framework is constructed, and a hierarchical decoupling strategy is invoked to perform hierarchical decoupling design processing on the basic control framework to obtain a ground controller. An intelligent control module group is designed based on the target application characteristics of the target UAV, and this intelligent control module group is integrated into the ground controller to obtain a target controller. The target UAV is then controlled through the target controller. This achieves hierarchical decoupling and intelligent collaboration in UAV control, improving the technical effects of UAV control safety and collaborative efficiency. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This application provides a schematic flowchart of a drone control method based on the HarmonyOS system. Figure 2 This is a schematic diagram of a drone control device based on the HarmonyOS system, provided as an embodiment of this application.

[0011] Explanation of reference numerals in the attached diagram: Ground controller acquisition module 10, target controller acquisition module 20, UAV control module 30. Detailed Implementation

[0012] This application provides a drone control method and device based on the HarmonyOS system, which addresses the technical problems in existing drone control technologies, such as incomplete decoupling between hardware and software, and between protocols and flight control, leading to insufficient control security and low efficiency of cluster collaborative control.

[0013] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0014] Example 1, as Figure 1 As shown, this application provides a drone control method based on the HarmonyOS system, the method comprising: Step S100: Construct a basic control framework and invoke a hierarchical decoupling strategy to perform hierarchical decoupling design processing on the basic control framework to obtain a ground controller.

[0015] Specifically, the basic control framework is an infrastructure built on the HarmonyOS kernel for controlling target drones. It integrates domestically produced main control chips, domestically produced communication modules (supporting 4G / 5G domestic communication protocols), and encryption chips integrating national cryptographic algorithms. The layered decoupling strategy includes hardware layer plans, protocol layer plans, and application layer plans. According to the hardware layer plan, a unified hardware interface is defined through HarmonyOS HDF (hardware driver framework) to separate hardware devices such as sensors (e.g., GPS, gyroscopes) and actuators (e.g., motors, servos) from the upper-layer software. When hardware is replaced, only the driver needs to be updated. The process involves adapting the files; according to the protocol layer plan, activating the protocol adaptation intermediate layer to parse general control protocol commands (such as MAVLINK protocol commands) and dynamically converting them into the target private command format of the target flight control system (such as PX4, APM); according to the application layer plan, calling the HarmonyOS ArkUI framework to develop control applications, ensuring that the application logic is independent of the underlying hardware and protocols, and using HarmonyOS's distributed task scheduling capabilities to achieve real-time synchronization of commands between the ground controller and the target UAV. Following these three plans, a layered decoupling design is performed on the basic control framework to obtain the ground controller.

[0016] Step S200: Design an intelligent control module group based on the target application characteristics of the target UAV, and integrate the intelligent control module group into the ground controller to obtain the target controller.

[0017] Specifically, when designing the intelligent control module group based on the target application characteristics of the target UAV, an anti-disturbance control module is formed by combining an outer-loop fractional-order anti-disturbance controller (which tracks the trajectory based on a fractional-order model of the UAV's position) and an inner-loop fractional-order sliding mode proportional-integral-derivative controller (which integrates proportional-integral-derivative control characteristics to achieve stable attitude tracking) based on application interference characteristics. Based on cooperative control characteristics, a formation fault-tolerant control module with an embedded grouped hierarchical control strategy is constructed. This strategy divides the UAV swarm into multiple groups, and generates cooperative control commands for the leader and follower layers in each group based on the synchronous distributed model predictive control principle, with minimizing trajectory error as the optimization objective. The two together form the intelligent control module group. When integrating the intelligent control module group into the ground controller, the anti-disturbance control commands and formation control commands are uniformly converted into a private command format executable by the ground controller through a protocol adaptation intermediate layer. The converted private commands are encrypted using national cryptographic algorithms before transmission, ultimately resulting in the target controller.

[0018] Step S300: Control the target UAV through the target controller.

[0019] Specifically, when controlling the target UAV through the target controller, the control commands generated by the target controller are converted into a format recognizable by the flight controller through the protocol adaptation intermediate layer. With the help of an encryption chip integrating national cryptographic algorithms, two-way authentication between the UAV and the target controller is completed based on the SM2 national cryptographic algorithm. The command transmission process is encrypted using the SM4 national cryptographic algorithm through HarmonyOS TEE (Trusted Execution Environment). At the same time, based on the HarmonyOS permission management framework, fine-grained permissions are set for hardware access, command issuance and other operations to prevent unauthorized access, command tampering and data leakage, ensuring that the encrypted commands are securely transmitted to the flight control system, where the flight control system executes the corresponding commands. The UAV's status data is converted and encrypted by the protocol adaptation layer and then fed back to the application layer of the target controller for display, forming a closed-loop control until the mission ends or is manually terminated.

[0020] In one possible implementation, step S100 further includes: Step S110: The basic control framework refers to the basic architecture built on the HarmonyOS system kernel for controlling the target UAV, wherein the basic control framework integrates a predetermined main control chip, a predetermined communication module and a predetermined encryption chip.

[0021] Specifically, the basic control framework is built around the HarmonyOS kernel and is the basic architecture for controlling the target drone. The integrated main control chip is a domestically produced chip adapted to the HarmonyOS system, the communication module supports 4G / 5G domestic communication protocols, and the encryption chip integrates domestic cryptographic algorithms (such as SM2 and SM4). By integrating these domestically produced components, a fully domestically produced support system from chip to operating system is built, providing the underlying architecture foundation for drone control. This is different from the traditional architecture that relies on foreign or open-source systems, ensuring the autonomy and controllability of the underlying architecture.

[0022] In one possible implementation, step S100 further includes: Step S120: The layered decoupling strategy includes hardware layer plans, protocol layer plans, and application layer plans.

[0023] Step S130: According to the hardware layer plan, the sensor, actuator device and upper-layer software are designed separately. The sensor, actuator device and upper-layer software are connected through a predetermined hardware interface, and the predetermined hardware interface refers to the unified interface defined by the HarmonyOS hardware driver framework.

[0024] Step S140: Wherein, according to the protocol layer plan, the protocol adaptation intermediate layer is activated to perform predetermined parsing processing on the general control protocol instructions, wherein the predetermined parsing processing refers to dynamically converting the general control protocol instructions into the format of the target private instructions of the target flight control system.

[0025] Step S150: According to the application layer plan, the HarmonyOS user interface framework is invoked to develop a control application, and the application logic of the control application is independent of the underlying hardware and protocol, and the instructions of the ground controller and the target UAV are synchronized in real time through distributed task scheduling.

[0026] Step S160: Perform layered decoupling design processing on the basic control framework according to the hardware layer plan, the protocol layer plan and the application layer plan in sequence to obtain the ground controller.

[0027] Specifically, the layered decoupling strategy includes hardware layer contingency plans, protocol layer contingency plans, and application layer contingency plans. These three plans work together on the basic control framework to achieve complete decoupling between hardware and software, and between protocols and flight control. Specifically, the hardware layer contingency plan defines a unified hardware interface based on HarmonyOS HDF (Hardware Driver Framework), separating hardware devices such as sensors and actuators from the upper-layer software. The protocol layer contingency plan adds a protocol adaptation intermediate layer to parse and convert general control protocol commands (such as MAVLink protocol commands) into the target flight control system's private command format. The application layer contingency plan develops control applications based on the HarmonyOS user interface framework (such as ArkUI), ensuring that application logic is independent of the underlying hardware and protocols. It also relies on distributed task scheduling to achieve real-time synchronization of commands between the ground controller and the UAV. Through the collaboration of these three contingency plans, an open ecosystem is formed, solving the problem of hardware-software and protocol-flight control binding in existing technologies.

[0028] According to the hardware layer design, sensors (such as GPS, gyroscopes, etc.), actuators (such as motors, servos, etc.) and upper-layer software are designed separately. The two are connected through a predetermined hardware interface, which is a unified interface defined by HarmonyOS HDF (Hardware Driver Framework). This design decouples the hardware devices from the upper-layer software. When replacing sensors or actuators, only the corresponding driver adaptation files need to be updated, without modifying the upper-layer control logic. This achieves hardware and software decoupling, solving the problem of hardware and software binding in existing technologies and providing convenience for the hardware expansion and maintenance of UAV control systems.

[0029] According to the protocol layer plan, a pre-defined parsing process is performed on general control protocol commands (such as open-source MAVLink protocol commands) by activating the protocol adaptation intermediate layer. Specifically, this process dynamically converts general control protocol commands into the target private command format of the target flight control system (such as PX4, APM, etc.). This intermediate layer establishes a conversion bridge between the traditional general protocol and the flight control system, enabling the separation of the control protocol and the flight control system. This solves the problem of the control protocol being tied to the flight control system. When changing the flight control system, only the conversion rules need to be adjusted through the protocol adaptation intermediate layer; there is no need to modify the upper-level control command generation logic. This achieves decoupling between the protocol and the flight control system, providing flexibility for protocol expansion and flight control system adaptation for UAV control systems.

[0030] According to the application layer plan, the HarmonyOS ArkUI (user interface framework) is invoked to develop the control application. The application logic of this control application does not depend on the underlying hardware devices (such as sensors and actuators) and the control protocol adopted (such as the MAVLink protocol). That is, when the underlying hardware is replaced or the protocol is adjusted, the application logic does not need to be modified. At the same time, with the help of the distributed task scheduling capability of the HarmonyOS system, the control commands between the ground controller and the target UAV are synchronized in real time. This ensures that the control commands issued by the ground can be transmitted to the UAV in a timely manner, and the status feedback of the UAV can be quickly transmitted back to the ground controller. This ensures the real-time performance and reliability of the control process and further improves the hardware-software-protocol-flight control decoupling system.

[0031] Following the sequence of hardware layer, protocol layer, and application layer plans, a layered decoupling design is implemented on the basic control framework to obtain the ground controller: First, based on the hardware layer plan, the unified hardware interface defined by HarmonyOS HDF (hardware driver framework) separates hardware devices such as sensors and actuators from the upper-layer software, achieving hardware-software decoupling. Next, based on the protocol layer plan, the protocol adaptation intermediate layer is activated to parse general control protocol commands (such as MAVLINK protocol commands) and dynamically convert them into the target flight control system's private command format, completing the decoupling of protocol and flight control. Finally, according to the application layer plan, the HarmonyOS ArkUI framework is invoked to develop control applications, ensuring that the application logic is independent of the underlying hardware and protocols, and real-time synchronization of commands between the ground controller and the UAV is achieved through distributed task scheduling. Through the sequential action of these three layers, a fully decoupled architecture of hardware-software-protocol-flight control is built on the basic control framework, ultimately forming the ground controller.

[0032] In one possible implementation, step S200 further includes: Step S210: Based on the application interference characteristics in the target application characteristics, the outer loop fractional-order disturbance rejection controller and the inner loop fractional-order sliding mode proportional-integral-derivative controller are combined to obtain the disturbance rejection control module.

[0033] Step S220: Wherein, the outer ring fractional-order anti-interference controller performs trajectory tracking based on the fractional-order model of the target UAV's position.

[0034] Step S230: Wherein, the inner loop fractional sliding mode proportional-integral-derivative controller performs attitude stabilization tracking based on the fused proportional-integral-derivative control characteristics.

[0035] Step S240: Based on the collaborative control features in the target application features, construct a formation fault-tolerant control module, wherein the formation fault-tolerant control module embeds a grouping hierarchical control strategy, and the grouping hierarchical control strategy is used to perform collaborative control on the cluster of target UAVs.

[0036] Step S250: The disturbance rejection control module and the formation fault tolerance control module together form the intelligent control module group.

[0037] Specifically, based on the application interference characteristics of the target UAV, an anti-disturbance control module is obtained by combining an outer-loop fractional-order anti-disturbance controller and an inner-loop fractional-order sliding mode proportional-integral-derivative (PID) controller. In practice, the outer-loop fractional-order anti-disturbance controller is based on a fractional-order model of the target UAV's position. It estimates and compensates for external disturbances and model uncertainties by constructing a fractional-order extended state observer, thereby achieving accurate tracking of the desired trajectory. The inner-loop fractional-order sliding mode PID controller integrates the linear adjustment characteristics of PID control with the strong robustness of sliding mode control. It designs a fractional-order sliding surface and adopts a reaching law control strategy to suppress jitter while quickly responding to attitude deviations to achieve stable attitude tracking. The inner and outer-loop controllers form a closed-loop anti-disturbance mechanism through data interaction, jointly improving the control accuracy and stability of the UAV under application interference such as airflow disturbances and sensor noise.

[0038] A fractional-order dynamic model of the UAV's position is constructed, incorporating fractional-order calculus characteristics of position changes to more accurately describe the actual motion state. A fractional-order extended state observer is embedded in the controller to estimate external disturbances and model uncertainties caused by airflow disturbances, load changes, etc. during flight in real time. Based on the observed disturbance information and the fractional-order position model, a fractional-order disturbance rejection control law is designed. By adjusting the control quantity to compensate for the disturbance effect, the deviation between the actual position of the UAV and the desired trajectory is controlled within a preset range, thereby achieving high-precision trajectory tracking and providing stable outer-loop position control support for the disturbance rejection control module.

[0039] The inner-loop fractional-order sliding mode proportional-integral-derivative (PID) controller achieves stable attitude tracking based on integrated proportional-integral-derivative (PID) control characteristics. Its core principle is to combine the linear adjustment capability of PID control with the strong robustness of sliding mode control, and to introduce fractional-order integral-derivative characteristics to optimize control accuracy. This controller establishes a fractional-order mathematical model for the UAV's attitude angles (such as pitch, roll, and yaw), designs a sliding surface containing fractional-order terms, and adjusts the proportional, integral, and derivative components of the attitude deviation in real time through PID control characteristics. Simultaneously, it utilizes the switching characteristics of sliding mode control to quickly suppress attitude fluctuations caused by external disturbances (such as gusts of wind), stabilizing the UAV's attitude near the target value. This effectively improves the dynamic response speed and anti-interference capability of attitude tracking, providing stable inner-loop attitude control support for the anti-disturbance control module.

[0040] A formation fault-tolerant control module is constructed. Based on the cooperative control characteristics of the target UAVs, a grouped hierarchical control strategy is embedded within the module. This strategy first divides the UAV swarm into multiple groups according to task requirements, and each group is further divided into a leader layer and a follower layer. The distributed task scheduling capability of the HarmonyOS system is used to realize information interaction within and between groups. The leader layer UAVs generate control commands based on the synchronous distributed model predictive control principle, with the goal of minimizing the trajectory error of tracking the virtual navigator. The follower layer UAVs adjust their attitude and position to constrain the tracking error of the group's reference trajectory. At the same time, the generated cooperative control commands are converted into the private format of the corresponding flight control system through a protocol adaptation intermediate layer. Combined with the two-way identity authentication and data encryption mechanism of the security authentication module, the commands are securely transmitted and executed within the swarm. Even if some UAVs fail, task fault tolerance can be achieved through dynamic adjustments between layers, ensuring the stability of the swarm's cooperative control.

[0041] The anti-interference control module and the formation fault-tolerant control module are integrated through a protocol adaptation middleware layer to form an intelligent control module group. The anti-interference control commands generated by the anti-interference control module (for single UAV trajectory tracking and attitude stabilization) and the formation control commands generated by the formation fault-tolerant control module (for cluster coordination) are both transmitted to the protocol adaptation middleware layer. This middleware layer performs unified conversion according to the private command format of the target flight control system (such as PX4, APM). The converted commands are encrypted by an encryption chip integrating national cryptographic algorithms and transmitted to the ground controller through a communication module supporting 4G / 5G domestic communication protocols. This ensures the compatibility and security of commands at the hardware, protocol, and application layers. At the same time, the distributed task scheduling capability of the HarmonyOS system enables data interaction and coordination between modules. This allows the intelligent control module group to independently respond to the anti-interference needs of a single UAV and collaboratively complete the formation control tasks of a cluster, forming a functionally complementary integrated control module system.

[0042] In one possible implementation, step S240 further includes: Step S241: According to the grouping and hierarchical control strategy, the cluster of the target UAVs is divided into groups to obtain the division result, wherein the division result includes multiple groups.

[0043] Step S242: Extract the first group from the plurality of groups, wherein the first group includes a first leadership layer and a first follower layer.

[0044] Step S243: Based on the principle of synchronous distributed model predictive control, and with predetermined constraints as the optimization objective, generate the first collaborative control command for the first leadership layer and the first follower layer.

[0045] Step S244: Perform coordinated control on the first group according to the first coordinated control instruction.

[0046] Specifically, when dividing the target UAV cluster according to the grouping and hierarchical control strategy, the cluster is broken down into multiple relatively independent groups according to the target UAV's mission type, performance parameters and collaborative requirements, based on preset grouping rules (such as mission area division, functional division, etc.). Each group undertakes a specific sub-task. The division result clearly includes these mutually cooperating groups with different focuses, laying the foundation for subsequent hierarchical collaborative control and ensuring that the cluster can achieve efficient division of labor and cooperation when performing complex tasks.

[0047] From the multiple groups obtained according to the grouping and hierarchical control strategy, one group is selected as the first group. The first group is then internally divided into hierarchical levels. The first leadership layer is composed of UAVs with better performance and the ability to receive global task commands and plan local paths. This leadership layer is responsible for coordinating collaborative tasks within the group and issuing commands to other UAVs. The remaining UAVs form the first follower layer, which mainly executes specific operations based on the commands of the first leadership layer and maintains coordination with the leadership layer. This creates a hierarchical structure of "leadership layer - follower layer" in the first group, laying the foundation for subsequent collaborative control.

[0048] Based on the principle of synchronous distributed model predictive control, a real-time information interaction mechanism is established between the first leadership layer and the first follower layer of the first group. Dynamic predictive models are constructed using the state feedback data (such as position, speed, and attitude) of each UAV. With predetermined constraints (minimizing the trajectory error of the first leadership layer in tracking the virtual navigator and constraining the tracking error of the first follower layer on the reference trajectory of the first group) as the optimization objective, the trajectory tracking requirements are converted into calculable parameter indicators through a protocol adaptation intermediate layer. The control quantities are solved by iterative optimization algorithms to generate the first cooperative control command, which includes the path correction instructions of the first leadership layer (such as heading angle adjustment value and speed compensation amount) and the relative position maintenance instructions of the first follower layer (such as distance threshold with the leadership layer and attitude synchronization parameters). The instructions are encrypted by the encryption chip using the national cryptographic algorithm and then transmitted to the corresponding UAVs through the communication module.

[0049] The generated first collaborative control command is converted into a private command format recognizable by the first leader and first follower layers in the first group through a protocol adaptation intermediate layer. It is then transmitted to the corresponding drone through a communication module (supporting 4G / 5G domestic communication protocols). The first leader adjusts flight parameters (such as heading and speed) according to the command to track the trajectory of the virtual navigator. The first follower layer maintains its relative position and attitude with the leader according to the command. At the same time, a two-way authentication is performed based on the SM2 national cryptographic algorithm through a security authentication module. The command transmission process is encrypted using a TEE trusted execution environment. Operation permissions are controlled by the HarmonyOS permission management framework to ensure that the first group accurately executes tasks in collaborative operations, maintains stable formation, and avoids unauthorized interference.

[0050] In one possible implementation, step S243 further includes: The predetermined constraints include minimizing the trajectory error of the first leadership layer in tracking the virtual navigator and constraining the tracking error of the first follower layer in tracking the reference trajectory of the first group.

[0051] Specifically, the predetermined constraints are specific optimization objectives and boundary conditions set for the collaborative control of the first group. For the first leadership layer, it is required to minimize the deviation (such as three-dimensional coordinate difference, path offset) between the actual trajectory and the virtual navigator trajectory by continuously adjusting flight parameters (such as position and speed) while tracking the preset trajectory of the virtual navigator, thus ensuring the accuracy of the path of the leadership layer as the core of the group. For the first follower layer, it is necessary to constrain its tracking error relative to the reference trajectory of the first group (which can be derived from the trajectory of the leadership layer or pre-planned) during the following process. For example, the position deviation is limited to no more than a preset threshold (such as 1 meter), and the attitude synchronization error is within the allowable range (such as heading angle deviation ≤ 5°), so as to ensure the coordination between the follower layer and the leadership layer and the overall trajectory of the group, and ultimately achieve orderly collaboration of the first group in complex tasks.

[0052] In one possible implementation, step S250 further includes: Step S251: Obtain the protocol adaptation intermediate layer, and use the protocol adaptation intermediate layer to uniformly convert the anti-interference control command and formation control command into the format of the private command that the ground controller can execute.

[0053] Step S252: The converted private command is encrypted using a predetermined algorithm and then transmitted to the ground controller.

[0054] Specifically, a protocol adaptation middleware layer built on the HarmonyOS system is obtained (this middleware layer is a conversion module connecting the control protocol and the flight controller, with command parsing and format conversion functions). The anti-interference control commands generated by the anti-interference control module (used to deal with application interference and stabilize the UAV's operating state) and the formation control commands generated by the formation fault tolerance control module (used to coordinate the cooperative actions of the UAV swarm) are input into this middleware layer. The middleware layer first identifies and parses the two types of commands through its built-in command parsing and conversion algorithm, and then converts them into a private command format that can be directly executed by the ground controller according to the private command format specifications of the flight control system (such as PX4, APM) adapted to the ground controller. This achieves compatible docking between the anti-interference control commands, formation control commands and the ground controller, solving the problem of the binding between the control protocol and the flight controller in traditional technologies.

[0055] The private commands that the ground controller can execute, which are converted by the protocol adaptation intermediate layer, are encrypted using a predetermined encryption algorithm (such as the SM4 national cryptographic algorithm) through an encryption chip that integrates national cryptographic algorithms, ensuring the security of the commands during transmission. The encrypted private commands are transmitted to the ground controller through a communication module that supports 4G / 5G domestic communication protocols. At the same time, the security of the encrypted transmission link is guaranteed by HarmonyOS TEE (Trusted Execution Environment), which prevents the commands from being tampered with or stolen, enabling the ground controller to securely receive and execute commands, and further strengthening the full-link security protection of UAV control.

[0056] In one possible implementation, step S252 further includes: Controlling the target drone through the target controller also includes performing two-way authentication between the target drone and the target controller based on the predetermined algorithm, encrypting the instruction transmission process through a trusted execution environment, and setting hardware access and instruction issuance permissions based on a fine-grained permission management framework to prevent unauthorized access, instruction tampering, and data leakage.

[0057] Specifically, when controlling the target drone through the target controller, two-way authentication is performed between the target drone and the target controller based on a predetermined algorithm (such as the SM2 national cryptographic algorithm). Both parties need to exchange encrypted identity credentials and verify their legitimacy. Only after two-way verification is successful can a communication connection be established. Secondly, during the transmission of commands, the control commands are encrypted using HarmonyOS TEE (Trusted Execution Environment) to ensure that the commands exist in encrypted form in the transmission link, preventing them from being illegally intercepted or tampered with. At the same time, based on HarmonyOS's fine-grained permission management framework, hierarchical permissions are set for hardware access (such as sensor data reading and actuator operation) and command issuance (such as flight parameter modification and mission command issuance). For example, only the administrator account can perform core parameter adjustments, while ordinary accounts can only view status data. Through strict permission control, unauthorized operations are prevented, ultimately forming a full-link security mechanism covering identity verification, transmission encryption, and permission control, effectively preventing the risks of unauthorized access, command tampering, and data leakage.

[0058] In one possible implementation, step S252 further includes: The predetermined algorithm refers to any one of the encryption algorithms in the target encryption algorithm set.

[0059] Specifically, the predetermined algorithm refers to any encryption algorithm selected from the target encryption algorithm set. This target encryption algorithm set is based on Chinese national cryptographic algorithms and includes algorithms such as SM2 for identity authentication and SM4 for data encryption. These algorithms are all integrated into the encryption chip. In practical applications, an appropriate encryption algorithm is selected from this set according to specific scenario requirements. For example, SM4 is used to encrypt private commands during command transmission, while SM2 is used to verify the legitimacy of the UAV and ground controller during two-way identity authentication. By flexibly selecting encryption algorithms from the set, the security of data transmission and identity verification during UAV control is ensured.

[0060] Example 2, based on the same inventive concept as the unmanned aerial vehicle control method based on the HarmonyOS system in the previous examples, such as... Figure 2 As shown, this application provides a drone control device based on the HarmonyOS system. The device and method embodiments in this application are based on the same inventive concept. The device includes: The ground controller acquisition module 10 is used to construct a basic control framework and retrieve a hierarchical decoupling strategy to perform hierarchical decoupling design processing on the basic control framework to obtain the ground controller.

[0061] The target controller acquisition module 20 is used to design an intelligent control module group based on the target application characteristics of the target UAV, and integrate the intelligent control module group into the ground controller to obtain the target controller.

[0062] The drone control module 30 is used to control the target drone through the target controller.

[0063] Furthermore, the device is also used to perform the following functions: The basic control framework refers to the basic architecture built on the HarmonyOS kernel for controlling the target drone. The basic control framework integrates a predetermined main control chip, a predetermined communication module, and a predetermined encryption chip.

[0064] Furthermore, the device is also used to perform the following functions: The layered decoupling strategy includes a hardware layer plan, a protocol layer plan, and an application layer plan. According to the hardware layer plan, sensors, actuators, and upper-layer software are designed separately. These components are connected to the upper-layer software via a predetermined hardware interface, which is a unified interface defined by the HarmonyOS hardware driver framework. According to the protocol layer plan, a protocol adaptation intermediate layer is activated to perform predetermined parsing processing on general control protocol commands. This parsing processing dynamically converts the general control protocol commands into the target flight control system's target private command format. According to the application layer plan, the HarmonyOS user interface framework is invoked to develop control applications. The application logic of these control applications is independent of the underlying hardware and protocols, and real-time synchronization of commands between the ground controller and the target UAV is achieved through distributed task scheduling. The ground controller is obtained by sequentially performing layered decoupling design processing on the basic control framework according to the hardware layer plan, the protocol layer plan, and the application layer plan.

[0065] Furthermore, the device is also used to perform the following functions: Based on the application interference characteristics in the target application features, an anti-interference control module is obtained by combining an outer-loop fractional-order anti-interference controller and an inner-loop fractional-order sliding mode proportional-integral-derivative (PID) controller. The outer-loop fractional-order anti-interference controller performs trajectory tracking based on a fractional-order model of the target UAV's position. The inner-loop fractional-order sliding mode PID controller performs attitude stabilization tracking based on fused PID control characteristics. Based on the cooperative control characteristics in the target application features, a formation fault-tolerant control module is constructed. This module embeds a grouped hierarchical control strategy, which is used for cooperative control of the target UAV swarm. The anti-interference control module and the formation fault-tolerant control module together form the intelligent control module group.

[0066] Furthermore, the device is also used to perform the following functions: According to the grouping and hierarchical control strategy, the target UAV cluster is divided into multiple groups. The first group is extracted from the multiple groups, and the first group includes a first leadership layer and a first follower layer. Based on the synchronous distributed model predictive control principle and with predetermined constraints as the optimization objective, a first collaborative control command is generated for the first leadership layer and the first follower layer. The first collaborative control command is used to perform collaborative control on the first group.

[0067] Furthermore, the device is also used to perform the following functions: The predetermined constraints include minimizing the trajectory error of the first leadership layer in tracking the virtual navigator and constraining the tracking error of the first follower layer in tracking the reference trajectory of the first group.

[0068] Furthermore, the device is also used to perform the following functions: The protocol adaptation intermediate layer is obtained, and the anti-interference control command and formation control command are uniformly converted into the format of the private command that can be executed by the ground controller through the protocol adaptation intermediate layer; the converted private command is encrypted by a predetermined algorithm and then transmitted to the ground controller.

[0069] Furthermore, the device is also used to perform the following functions: Controlling the target drone through the target controller also includes performing two-way authentication between the target drone and the target controller based on the predetermined algorithm, encrypting the instruction transmission process through a trusted execution environment, and setting hardware access and instruction issuance permissions based on a fine-grained permission management framework to prevent unauthorized access, instruction tampering, and data leakage.

[0070] Furthermore, the device is also used to perform the following functions: The predetermined algorithm refers to any one of the encryption algorithms in the target encryption algorithm set.

[0071] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. Furthermore, the above description focuses on specific embodiments of this specification. Additionally, the processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired results. In some implementations, multitasking and parallel processing are possible or may be advantageous.

[0072] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0073] This specification and accompanying drawings are merely illustrative examples of this application and are intended to cover any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from its scope. Therefore, if such modifications and variations fall within the scope of this application and its equivalents, this application intends to include such modifications and variations.

Claims

1. A method for controlling unmanned aerial vehicles (UAVs) based on the HarmonyOS system, characterized in that, include: A basic control framework is constructed, and a hierarchical decoupling strategy is invoked to perform hierarchical decoupling design processing on the basic control framework to obtain the ground controller; A smart control module group is designed based on the target application characteristics of the target UAV, and the smart control module group is integrated into the ground controller to obtain the target controller; The target drone is controlled by the target controller.

2. The unmanned aerial vehicle (UAV) control method based on the HarmonyOS system as described in claim 1, characterized in that, The basic control framework refers to the basic architecture built on the HarmonyOS kernel for controlling the target drone. The basic control framework integrates a predetermined main control chip, a predetermined communication module, and a predetermined encryption chip.

3. The unmanned aerial vehicle control method based on the HarmonyOS system as described in claim 2, characterized in that, The layered decoupling strategy includes hardware layer contingency plans, protocol layer contingency plans, and application layer contingency plans. According to the hardware layer plan, the sensors, actuators and upper-layer software are designed separately. The sensors, actuators and upper-layer software are connected through a predetermined hardware interface, which is a unified interface defined by the HarmonyOS hardware driver framework. According to the protocol layer plan, the protocol adaptation intermediate layer is activated to perform predetermined parsing processing on the general control protocol instructions. The predetermined parsing processing refers to dynamically converting the general control protocol instructions into the format of the target private instructions of the target flight control system. According to the application layer plan, the HarmonyOS user interface framework is invoked to develop a control application, and the application logic of the control application is independent of the underlying hardware and protocol. The ground controller and the target UAV terminal are synchronized in real time through distributed task scheduling. The ground controller is obtained by performing layered decoupling design processing on the basic control framework in sequence according to the hardware layer plan, the protocol layer plan, and the application layer plan.

4. The unmanned aerial vehicle control method based on the HarmonyOS system as described in claim 1, characterized in that, The intelligent control module group is designed based on the target application characteristics of the target UAV, including: Based on the application interference characteristics in the target application features, the outer loop fractional-order disturbance rejection controller and the inner loop fractional-order sliding mode proportional-integral-derivative controller are combined to obtain the disturbance rejection control module. The outer ring fractional-order anti-interference controller performs trajectory tracking based on a fractional-order model of the target UAV's position. The inner-loop fractional-order sliding mode proportional-integral-derivative controller performs attitude stabilization tracking based on the fused proportional-integral-derivative control characteristics. Based on the collaborative control features in the target application features, a formation fault-tolerant control module is constructed, wherein the formation fault-tolerant control module embeds a grouping and hierarchical control strategy, and the grouping and hierarchical control strategy is used to perform collaborative control on the target UAV cluster. The disturbance rejection control module and the formation fault tolerance control module together form the intelligent control module group.

5. The unmanned aerial vehicle control method based on the HarmonyOS system as described in claim 4, characterized in that, Based on the cooperative control features in the target application characteristics, a formation fault-tolerant control module is constructed. This module embeds a grouping and hierarchical control strategy, which is used to perform cooperative control of the target UAV swarm, including: According to the grouping and hierarchical control strategy, the cluster of the target UAVs is divided into groups to obtain a division result, wherein the division result includes multiple groups; Extract the first group from the plurality of groups, wherein the first group includes a first leadership layer and a first follower layer; Based on the principle of synchronous distributed model predictive control, with predetermined constraints as the optimization objective, the first collaborative control command of the first leadership layer and the first follower layer is generated. The first collaborative control instruction is used to perform collaborative control on the first group.

6. The unmanned aerial vehicle control method based on the HarmonyOS system as described in claim 5, characterized in that, The predetermined constraints include minimizing the trajectory error of the first leadership layer in tracking the virtual navigator and constraining the tracking error of the first follower layer in tracking the reference trajectory of the first group.

7. The unmanned aerial vehicle control method based on the HarmonyOS system as described in claim 4, characterized in that, The anti-interference control module and the formation fault-tolerant control module are integrated through a protocol adaptation intermediate layer. Together, they form the intelligent control module group, including: The protocol adaptation intermediate layer is obtained, and the anti-interference control command and formation control command are uniformly converted into the format of the private command that the ground controller can execute through the protocol adaptation intermediate layer; The converted private instructions are encrypted using a predetermined algorithm and then transmitted to the ground controller.

8. The unmanned aerial vehicle control method based on the HarmonyOS system as described in claim 7, characterized in that, Controlling the target drone through the target controller also includes performing two-way authentication between the target drone and the target controller based on the predetermined algorithm, encrypting the instruction transmission process through a trusted execution environment, and setting hardware access and instruction issuance permissions based on a fine-grained permission management framework to prevent unauthorized access, instruction tampering, and data leakage.

9. The unmanned aerial vehicle control method based on the HarmonyOS system as described in claim 8, characterized in that, The predetermined algorithm refers to any one of the encryption algorithms in the target encryption algorithm set.

10. A drone control device based on the HarmonyOS system, characterized in that, The device is used to implement the unmanned aerial vehicle control method based on the HarmonyOS system according to any one of claims 1-9, and the device includes: The ground controller acquisition module is used to construct a basic control framework and retrieve a hierarchical decoupling strategy to perform hierarchical decoupling design processing on the basic control framework to obtain the ground controller. The target controller acquisition module is used to design an intelligent control module group based on the target application characteristics of the target UAV, and integrate the intelligent control module group into the ground controller to obtain the target controller. The drone control module is used to control the target drone through the target controller.

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