A method and system for controlling a drone based on Bluetooth communication

Abstract

The application discloses a kind of unmanned plane control method and system based on bluetooth communication, it is related to wireless communication field, including: monitoring unmanned plane bluetooth communication signal strength and information transmission parameter sequence;Signal strength is trend analyzed, signal strength abnormal characteristic value is calculated, and the stability coefficient of bluetooth communication is evaluated;Feedback delay characteristic value is calculated, and the delay risk coefficient of channel is evaluated;Stability coefficient adjustment model is established, and delay control model is established;According to the stability coefficient of bluetooth communication, the distance of unmanned plane to the equipment of control unmanned plane is adjusted for the first time;The distance of unmanned plane to the equipment of control unmanned plane is adjusted for the second time.By evaluating the stability coefficient of bluetooth communication, evaluating the delay risk coefficient of channel, establishing stability coefficient adjustment model and establishing delay control model, it is guaranteed that the distance is reduced as small as possible under the condition that the stability and delay requirements of communication are met, to ensure that unmanned plane activity is relatively free.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of wireless communication, in particular to a method and system for controlling unmanned aerial vehicle (UAV) based on Bluetooth communication. BACKGROUND

[0002] Bluetooth communication is a wireless technology widely used in the control of unmanned aerial vehicles, and is particularly suitable for short-distance and low-power application scenarios. During Bluetooth communication, environmental interference can affect the stability of signal strength and the delay of communication. By adjusting the distance between the unmanned aerial vehicle and the device for controlling the unmanned aerial vehicle, the instability of signal strength and the delay of communication can be reduced. However, since the unmanned aerial vehicle has a corresponding person to perform, the distance between the unmanned aerial vehicle and the device for controlling the unmanned aerial vehicle cannot be reduced without restriction. However, the prior art does not adequately consider the impact of distance changes on the stability of signal strength and the delay of communication, making it difficult to adjust the distance between the unmanned aerial vehicle and the device for controlling the unmanned aerial vehicle while keeping the unmanned aerial vehicle relatively free to move. SUMMARY

[0003] To solve the above technical problems, the present application provides a method and system for controlling unmanned aerial vehicles based on Bluetooth communication, which solves the problems raised in the background art.

[0004] To achieve the above purposes, the technical solution adopted by the present application is as follows:

[0005] A method for controlling unmanned aerial vehicles based on Bluetooth communication, comprising:

[0006] real-time monitoring of signal strength and information transmission parameter sequence of Bluetooth communication of the unmanned aerial vehicle;

[0007] trend analysis of signal strength, calculation of signal strength anomaly characteristic value according to the stability of signal strength, and evaluation of the stability coefficient of Bluetooth communication according to the signal strength anomaly characteristic value;

[0008] calculation of feedback delay characteristic value according to the information transmission parameter sequence, and evaluation of the delay risk coefficient of the channel according to the feedback delay characteristic value;

[0009] establishment of a stability coefficient adjustment model and a delay control model;

[0010] initial adjustment of the distance from the unmanned aerial vehicle to the device for controlling the unmanned aerial vehicle according to the stability coefficient of Bluetooth communication;

[0011] secondary adjustment of the distance from the unmanned aerial vehicle to the device for controlling the unmanned aerial vehicle according to the delay risk coefficient.

[0012] Preferably, the evaluation of the stability coefficient of Bluetooth communication comprises the following steps:

[0013] Real-time acquisition of signal strength of unmanned aerial vehicle Bluetooth communication, trend analysis of signal strength, calculation of signal strength anomaly characteristic value according to the stability of signal strength;

[0014] Acquire at least one historical communication process of the unmanned aerial vehicle Bluetooth communication, and the historical communication process is a communication process with qualified communication quality;

[0015] According to the signal strength in the historical communication process, the signal strength anomaly characteristic value of the historical communication process is calculated as a stable reference value;

[0016] The maximum value of at least one stable reference value is taken as the first preset threshold value;

[0017] The ratio of the first preset threshold value to the signal strength anomaly characteristic value is taken as the stability coefficient of the Bluetooth communication.

[0018] Preferably, the calculation of the signal strength anomaly characteristic value comprises the following steps:

[0019] Real-time acquisition of signal strength sequence in unmanned aerial vehicle Bluetooth communication, the signal strength sequence is composed of at least one actual signal strength, and the collection interval time of adjacent actual signal strengths is equal;

[0020] At least one wave crest of the actual signal strength is counted, and the maximum value and the minimum value of the ordinate of the wave crest are used to form a wave crest interval;

[0021] The wave crest intervals of at least one actual signal strength are intersected to obtain a first interval;

[0022] The part of the wave crest interval which does not overlap with the first interval is taken as a second interval, and the length of at least one second interval is averaged to obtain a first characteristic value;

[0023] At least one wave trough of the actual signal strength is counted, and the maximum value and the minimum value of the ordinate of the wave trough are used to form a wave trough interval;

[0024] The wave trough intervals of at least one actual signal strength are intersected to obtain a third interval;

[0025] The part of the wave trough interval which does not overlap with the third interval is taken as a fourth interval, and the length of at least one fourth interval is averaged to obtain a second characteristic value;

[0026] The first characteristic value and the second characteristic value are accumulated to obtain the signal strength anomaly characteristic value.

[0027] Preferably, the evaluation of the delay risk coefficient of the channel comprises the following steps:

[0028] Real-time acquisition of information transmission parameter sequence in unmanned aerial vehicle Bluetooth communication, and calculation of feedback delay characteristic value according to the information transmission parameter sequence;

[0029] According to the information transmission parameter sequence in the historical communication process, a feedback delay characteristic value of the historical communication process is calculated as a delay reference value;

[0030] A maximum value of the at least one delay reference value is taken as a second preset threshold value;

[0031] A ratio of the second preset threshold value to the feedback delay characteristic value is taken as a delay risk coefficient of the channel.

[0032] Preferably, the calculation of the feedback delay characteristic value comprises the following steps:

[0033] A sequence of information transmission parameters reported by the unmanned aerial vehicle device within a preset time period is collected, and the sequence of information transmission parameters is composed of at least one unmanned aerial vehicle control instruction and a receiving-sending time interval of the unmanned aerial vehicle control instruction;

[0034] Based on the historical data, a time consumption of acquiring information of a data amount of a unit of the unmanned aerial vehicle Bluetooth communication transmission is obtained as a reference time;

[0035] A data amount contained in the unmanned aerial vehicle control instruction is divided by the unit data amount, and then multiplied by the reference time to obtain a theoretical transmission time;

[0036] A length of the receiving-sending time interval of the unmanned aerial vehicle control instruction is subtracted from the theoretical transmission time of the unmanned aerial vehicle control instruction to obtain an actual delay time of the unmanned aerial vehicle control instruction, and a total number of the actual delay times is taken as a target value;

[0037] At least one actual delay combination is formed, and the actual delay combination is composed of the actual delay times of any two unmanned aerial vehicle control instructions;

[0038] A time allowable error in the unmanned aerial vehicle Bluetooth communication is obtained, and the at least one actual delay time is classified and summarized to form at least one actual delay time set, wherein a difference between any two actual delay times in the actual delay time set is less than the time allowable error;

[0039] An existing weight of the actual delay time is equal to a ratio of an element number in the actual delay time set where the actual delay time is located to the target value;

[0040] The two actual delay times in the actual delay combination are multiplied by the corresponding existing weights, then subtracted and taken as an absolute value to obtain a verification value of the actual delay combination, and an average value of the verification values of the at least one actual delay combination is taken as the feedback delay characteristic value.

[0041] Preferably, the establishment of the stable coefficient adjustment model comprises the following steps:

[0042] The value range of the distance from the unmanned aerial vehicle to the device for controlling the unmanned aerial vehicle is equally spaced to obtain at least one test point;

[0043] Under the same communication environment, the current stability coefficient of the Bluetooth communication is obtained under the condition that the distance from the UAV to the device for controlling the UAV is equal to the value at the test point, and is recorded as a test stability coefficient;

[0044] The test point with the minimum value is taken as a reference test point;

[0045] The ratio of the value of the test point to the value of the reference test point is taken as a distance regulation coefficient of the test point;

[0046] The ratio of the test stability coefficient corresponding to the test point to the test stability coefficient corresponding to the reference test point is taken as a stability regulation coefficient of the test point;

[0047] The stability regulation coefficient of the test point is paired with the distance regulation coefficient of the test point and fitted to obtain a stability adjustment function, wherein the stability regulation coefficient is the independent variable and the distance regulation coefficient is the dependent variable.

[0048] Preferably, the establishment of the delay regulation model comprises the following steps:

[0049] Under the same communication environment, the current delay risk coefficient of the channel is obtained under the condition that the distance from the UAV to the device for controlling the UAV is equal to the value at the test point, and is recorded as a test delay coefficient;

[0050] The ratio of the test delay coefficient corresponding to the test point to the test delay coefficient corresponding to the reference test point is taken as a delay regulation coefficient of the test point;

[0051] The delay regulation coefficient of the test point is paired with the distance regulation coefficient of the test point and fitted to obtain a delay adjustment function, wherein the delay regulation coefficient is the independent variable and the distance regulation coefficient is the dependent variable.

[0052] Preferably, the initial adjustment of the distance from the UAV to the device for controlling the UAV according to the stability coefficient of the Bluetooth communication comprises the following steps:

[0053] The distance from the UAV to the device for controlling the UAV before adjustment is taken as a first distance;

[0054] When the stability coefficient of the Bluetooth communication does not exceed 1, the distance regulation amplitude is 0, otherwise, the reciprocal of the stability coefficient of the Bluetooth communication is substituted into the stability adjustment function to obtain a first distance coefficient;

[0055] The first distance is multiplied by the first distance coefficient to obtain a second distance, and the distance from the UAV to the device for controlling the UAV is adjusted to the second distance.

[0056] Preferably, the secondary adjustment of the distance from the UAV to the device for controlling the UAV according to the delay risk coefficient comprises the following steps:

[0057] The distance between the unmanned aerial vehicle after the initial regulation and the device for controlling the unmanned aerial vehicle is taken as a third distance;

[0058] When the delay risk coefficient of the channel does not exceed 1, the distance regulation amplitude is 0, otherwise, the reciprocal of the delay risk coefficient of the channel is substituted into the delay adjustment function to obtain a second distance coefficient;

[0059] The first distance is multiplied by the second distance coefficient to obtain a fourth distance, and the distance between the unmanned aerial vehicle and the device for controlling the unmanned aerial vehicle is adjusted to the smaller value of the fourth distance and the third distance.

[0060] A Bluetooth communication-based unmanned aerial vehicle control system for implementing the Bluetooth communication-based unmanned aerial vehicle control method described above, comprising:

[0061] A data acquisition module, which monitors the signal strength and information transmission parameter sequence of the Bluetooth communication of the unmanned aerial vehicle in real time;

[0062] A stability analysis module, which performs trend analysis on the signal strength, calculates the signal strength abnormal characteristic value according to the stability degree of the signal strength, and evaluates the stability coefficient of the Bluetooth communication according to the signal strength abnormal characteristic value;

[0063] A delay analysis module, which calculates the feedback delay characteristic value according to the information transmission parameter sequence, and evaluates the delay risk coefficient of the channel according to the feedback delay characteristic value;

[0064] A model establishment module, which establishes a stability coefficient adjustment model and a delay regulation model;

[0065] A distance regulation module, which initially adjusts the distance between the unmanned aerial vehicle and the device for controlling the unmanned aerial vehicle according to the stability coefficient of the Bluetooth communication;

[0066] A delay regulation module, which secondarily adjusts the distance between the unmanned aerial vehicle and the device for controlling the unmanned aerial vehicle according to the delay risk coefficient.

[0067] Compared with the prior art, the present application has the following advantages:

[0068] By evaluating the stability coefficient of Bluetooth communication, evaluating the delay risk coefficient of the channel, establishing the stability coefficient adjustment model and establishing the delay control model, the stability and delay of the communication can be evaluated according to the calculation of the signal strength abnormal characteristic value and the calculation of the feedback delay characteristic value. During the evaluation, multiple data are comprehensively evaluated to avoid inaccurate evaluation caused by single data abnormality. Meanwhile, the established model is used to accurately estimate the influence of distance control on the stability and delay of the communication, so that the distance can be adjusted according to the real-time stability coefficient and delay risk coefficient, the distance can be reduced as small as possible under the condition of meeting the stability and delay requirements of the communication, the unmanned aerial vehicle activity is relatively free, and the designated task can be better completed. BRIEF DESCRIPTION OF DRAWINGS

[0069] Figure 1 The flowchart of the unmanned aerial vehicle control method based on Bluetooth communication of the application is shown.

[0070] Figure 2 The flowchart of evaluating the stability coefficient of Bluetooth communication of the application is shown.

[0071] Figure 3 The flowchart of calculating the signal strength abnormal characteristic value of the application is shown.

[0072] Figure 4 The flowchart of evaluating the delay risk coefficient of the channel of the application is shown.

[0073] Figure 5 The flowchart of calculating the feedback delay characteristic value of the application is shown.

[0074] Figure 6 The flowchart of establishing the stability coefficient adjustment model of the application is shown.

[0075] Figure 7 The flowchart of establishing the delay control model of the application is shown.

[0076] Figure 8 The flowchart of initially adjusting the distance from the unmanned aerial vehicle to the device for controlling the unmanned aerial vehicle according to the stability coefficient of Bluetooth communication of the application is shown.

[0077] Figure 9 The flowchart of secondarily adjusting the distance from the unmanned aerial vehicle to the device for controlling the unmanned aerial vehicle according to the delay risk coefficient of the application is shown. DETAILED DESCRIPTION

[0078] The following description is used to disclose the application so that those skilled in the art can implement the application. The preferred embodiments in the following description are only used as examples, and other obvious modifications can be made by those skilled in the art.

[0079] Referring to Figure 1 The unmanned aerial vehicle control method based on Bluetooth communication comprises the following steps:

[0080] Real-time monitoring of signal strength and information transmission parameter sequence of the unmanned aerial vehicle Bluetooth communication;

[0081] Trend analysis of the signal strength, calculation of signal strength anomaly characteristic value according to the stability of the signal strength, and evaluation of the stability coefficient of the Bluetooth communication according to the signal strength anomaly characteristic value;

[0082] Calculation of feedback delay characteristic value according to the information transmission parameter sequence, and evaluation of the delay risk coefficient of the channel according to the feedback delay characteristic value;

[0083] Establishment of a stability coefficient adjustment model and a delay control model;

[0084] Initial adjustment of the distance from the unmanned aerial vehicle to the device for controlling the unmanned aerial vehicle according to the stability coefficient of the Bluetooth communication;

[0085] Secondary adjustment of the distance from the unmanned aerial vehicle to the device for controlling the unmanned aerial vehicle according to the delay risk coefficient.

[0086] In this scheme, the main purpose is to timely adjust the distance from the unmanned aerial vehicle to the device for controlling the unmanned aerial vehicle when electromagnetic interference and other factors occur in the environment of unmanned aerial vehicle control. However, since the unmanned aerial vehicle has a task to perform, its activity space needs to be guaranteed as much as possible. Therefore, when adjusting the distance, the change range of the distance needs to be controlled as much as possible, that is, the maximum value of the distance that meets the stability and delay requirements is controlled. In this way, the activity range of the unmanned aerial vehicle can be ensured, and a series of subsequent steps are set to handle this.

[0087] Referring to Figure 2 The evaluation of the stability coefficient of the Bluetooth communication comprises the following steps:

[0088] Real-time acquisition of the signal strength of the unmanned aerial vehicle Bluetooth communication, trend analysis of the signal strength, and calculation of the signal strength anomaly characteristic value according to the stability of the signal strength;

[0089] Acquisition of at least one historical communication process of the Bluetooth communication unmanned aerial vehicle, the historical communication process being a communication process with qualified communication quality;

[0090] Calculation of the signal strength anomaly characteristic value of the historical communication process as a stability reference value according to the signal strength in the historical communication process;

[0091] Taking the maximum value of the at least one stability reference value as a first preset threshold value;

[0092] Taking the ratio of the first preset threshold value to the signal strength anomaly characteristic value as the stability coefficient of the Bluetooth communication.

[0093] In the process of Bluetooth communication, its strength can be set differently according to the use requirements, but in the absence of external interference, its strength will not change, but when there is external anti-interference effect, its strength will fluctuate with the change of external interference, the fluctuation of signal strength will cause the instability of signal, thereby interfering with the control of the unmanned aerial vehicle. Generally, there is a certain allowable fluctuation range for the stability of the signal. According to the analysis of the historical communication process, at least one stable reference value can be obtained, and the maximum value is the upper limit of the allowable fluctuation. Therefore, the stability coefficient of Bluetooth communication can be generated therefrom. It is easy to know that the stability coefficient of Bluetooth communication does not exceed 1, which means that the signal strength abnormal characteristic value does not exceed the first preset threshold. Therefore, the stability at this time meets the requirements, so there is no need to adjust at this time, but for the case where the stability coefficient of Bluetooth communication exceeds 1, adjustment is needed.

[0094] Referring to Figure 3 The calculation of the signal strength abnormal characteristic value includes the following steps:

[0095] Real-time acquisition of the signal strength sequence in the Bluetooth communication of the unmanned aerial vehicle, the signal strength sequence being composed of at least one actual signal strength, the collection interval time of adjacent actual signal strengths being equal;

[0096] Statistics of at least one wave crest of the actual signal strength, using the maximum and minimum values of the ordinate of the wave crest to form a wave crest interval;

[0097] Taking the intersection of the wave crest intervals of the at least one actual signal strength, a first interval is obtained;

[0098] Taking the part of the wave crest interval that does not overlap with the first interval as a second interval, taking the average of the lengths of the at least one second interval to obtain a first characteristic value;

[0099] Statistics of at least one wave trough of the actual signal strength, using the maximum and minimum values of the ordinate of the wave trough to form a wave trough interval;

[0100] Taking the intersection of the wave trough intervals of the at least one actual signal strength, a third interval is obtained;

[0101] Taking the part of the wave trough interval that does not overlap with the third interval as a fourth interval, taking the average of the lengths of the at least one fourth interval to obtain a second characteristic value;

[0102] The first characteristic value and the second characteristic value are accumulated to obtain a signal strength abnormal characteristic value.

[0103] The actual signal strength is a waveform function, but it is not constant due to environmental interference, which affects the waveform of the actual signal strength. Consequently, the peaks and troughs of the actual signal strength change. In this scheme, the stability of the actual signal strength is evaluated by the changes in peaks and troughs. Taking the peak as an example, when there is no external interference, the peak of the actual signal strength hardly changes. Therefore, the peak intervals of multiple acquisitions of the actual signal strength almost overlap, resulting in a very small first characteristic value. However, if external interference exists, the peak of the actual signal strength will change accordingly, leading to deviations between the peak intervals of multiple acquisitions. The larger the deviation, the greater the external interference. Therefore, the first characteristic value generated can evaluate the stability of the signal strength. Furthermore, to further enhance its accuracy, a similar operation is performed on the troughs, thus obtaining the signal strength anomaly characteristic value.

[0104] Reference Figure 4 As shown, evaluating the channel's delay risk coefficient includes the following steps:

[0105] The system acquires the information transmission parameter sequence in the drone's Bluetooth communication in real time, and calculates the feedback delay characteristic value based on the information transmission parameter sequence.

[0106] Based on the sequence of information transmission parameters in historical communication processes, the feedback delay characteristic value of historical communication processes is calculated and used as a delay reference value.

[0107] Use the maximum value of at least one delay reference value as the second preset threshold;

[0108] The ratio of the second preset threshold to the feedback delay characteristic value is used as the channel delay risk coefficient.

[0109] Normal signal transmission involves delays. Therefore, it is necessary to identify normal delays. A second preset threshold is used as the threshold for identification. The second preset threshold is set based on qualified historical communication processes. At least one historical communication process has multiple delay reference values. The maximum value is used as the second preset threshold. The second preset threshold can then be used to generate a delay risk coefficient. It is easy to know that when the delay risk coefficient does not exceed 1, the feedback delay characteristic value does not exceed the second preset threshold. Therefore, the delay is within the allowable range and no adjustment is needed. However, when the delay risk coefficient exceeds 1, the feedback delay characteristic value needs to be adjusted.

[0110] Reference Figure 5 As shown, calculating the feedback delay characteristic value includes the following steps:

[0111] Collect the information transmission parameter sequence reported by the unmanned device within a preset time period, the information transmission parameter sequence being composed of at least one unmanned control instruction and a sending-receiving time interval of the unmanned control instruction;

[0112] Based on historical data, obtain the time consumption of the information of the data amount of the unmanned aerial vehicle Bluetooth communication transmission unit as a reference time;

[0113] Divide the data amount contained in the unmanned control instruction by the unit data amount, and multiply the result by the reference time to obtain the theoretical transmission time;

[0114] Subtract the length of the sending-receiving time interval of the unmanned control instruction from the theoretical transmission time of the unmanned control instruction to obtain the actual delay time of the unmanned control instruction, and take the total number of the actual delay time as a target value;

[0115] Form at least one actual delay combination, the actual delay combination being composed of the actual delay time of any two unmanned control instructions;

[0116] Obtain the time allowance error in the unmanned aerial vehicle Bluetooth communication, classify and summarize at least one actual delay time to form at least one actual delay time set, wherein the difference between any two actual delay times in the actual delay time set is less than the time allowance error;

[0117] The existence weight of the actual delay time is equal to the ratio of the number of elements in the actual delay time set where the actual delay time exists to the target value;

[0118] Multiply the two actual delay times in the actual delay combination by the corresponding existence weight, subtract the result and take the absolute value to obtain the verification value of the actual delay combination, and take the average of the verification values of the at least one actual delay combination to obtain the feedback delay characteristic value.

[0119] Since a single data has volatility, when forming the feedback delay characteristic value, multiple data situations need to be fused, and the weights of different actual delay times are different, therefore, when calculating the difference, the weight needs to be considered. When the unmanned aerial vehicle communicates, the data transmission is the transmission of instructions, and there is no large amount of data, and the main reason for the delay is environmental factors. When there is no environmental interference factor, the delay will not fluctuate. When there is environmental interference, the environmental interference is usually irregular, which will cause the delay time to fluctuate. Therefore, the difference between the delay times is used to describe the abnormality of the delay. First, calculate the difference in the actual delay combination, and take the average of all actual delay combinations to obtain the feedback delay characteristic value;

[0120] In addition, when calculating the delay time, the data volume needs to be considered, and the transmission time is different when the data volume is different, so the factor of different data volume needs to be removed, and the corresponding technical features are: the length of the receiving and sending time interval of the unmanned aerial vehicle control instruction is subtracted from the theoretical transmission time of the unmanned aerial vehicle control instruction.

[0121] Referring to Figure 6 The establishment of the stability coefficient adjustment model includes the following steps:

[0122] The range of values of the distance from the unmanned aerial vehicle to the device for controlling the unmanned aerial vehicle is equally divided to obtain at least one test point;

[0123] Under the condition that the distance from the unmanned aerial vehicle to the device for controlling the unmanned aerial vehicle is equal to the value of the test point in the same communication environment, the current stability coefficient of Bluetooth communication is obtained, which is denoted as the test stability coefficient;

[0124] The test point with the smallest value is taken as the reference test point;

[0125] The ratio of the value of the test point to the value of the reference test point is taken as the distance regulation coefficient of the test point;

[0126] The ratio of the test stability coefficient corresponding to the test point to the test stability coefficient corresponding to the reference test point is taken as the stability regulation coefficient of the test point;

[0127] The stability regulation coefficient of the test point is paired with the distance regulation coefficient of the test point and fitted to obtain a stability adjustment function, wherein the stability regulation coefficient is the independent variable and the distance regulation coefficient is the dependent variable.

[0128] When the distance is adjusted in proportion, the stability will also change in proportion, and the stability coefficient adjustment model predicts the relationship between the change proportion of the stability and the distance, and then when the regulation proportion of the stability coefficient is determined, the regulation proportion of the distance can be determined, and then the regulation value of the distance can be determined.

[0129] Referring to Figure 7 The establishment of the delay regulation model includes the following steps:

[0130] Under the condition that the distance from the unmanned aerial vehicle to the device for controlling the unmanned aerial vehicle is equal to the value of the test point in the same communication environment, the current delay risk coefficient of the channel is obtained, which is denoted as the test delay coefficient;

[0131] The ratio of the test delay coefficient corresponding to the test point to the test delay coefficient corresponding to the reference test point is taken as the delay regulation coefficient of the test point;

[0132] The delay regulation coefficient of the test point is paired with the distance regulation coefficient of the test point and fitted to obtain a delay adjustment function, wherein the delay regulation coefficient is the independent variable and the distance regulation coefficient is the dependent variable.

[0133] When the distance is adjusted proportionally, the delay will also change proportionally. The delay regulation model predicts the relationship between the change proportion of the delay and the distance. When the regulation proportion of the delay risk coefficient is determined, the regulation proportion of the distance can be determined, and then the regulation value of the distance can be determined.

[0134] Referring to Figure 8 According to the stability coefficient of Bluetooth communication, the initial adjustment of the distance from the unmanned aerial vehicle to the device of the control unmanned aerial vehicle includes the following steps:

[0135] The distance from the unmanned aerial vehicle to the device of the control unmanned aerial vehicle before adjustment is taken as the first distance;

[0136] When the stability coefficient of Bluetooth communication does not exceed 1, the distance regulation amplitude is 0, otherwise, the reciprocal of the stability coefficient of Bluetooth communication is substituted into the stability adjustment function to obtain the first distance coefficient;

[0137] The first distance is multiplied by the first distance coefficient to obtain the second distance, and the distance from the unmanned aerial vehicle to the device of the control unmanned aerial vehicle is adjusted to the second distance.

[0138] The distance regulation is divided into initial regulation and secondary regulation. According to the previous analysis, as long as the stability coefficient is regulated to 1, the demand is met, that is, the regulation proportion of the stability coefficient is 1 divided by the stability coefficient, which is equal to the reciprocal of the stability coefficient. Substituting into the stability adjustment function, the proportion of distance regulation can be obtained, and the corresponding distance can be obtained.

[0139] Referring to Figure 9 According to the delay risk coefficient, the secondary adjustment of the distance from the unmanned aerial vehicle to the device of the control unmanned aerial vehicle includes the following steps:

[0140] The distance from the unmanned aerial vehicle to the device of the control unmanned aerial vehicle after initial regulation is taken as the third distance;

[0141] When the delay risk coefficient of the channel does not exceed 1, the distance regulation amplitude is 0, otherwise, the reciprocal of the delay risk coefficient of the channel is substituted into the delay adjustment function to obtain the second distance coefficient;

[0142] The first distance is multiplied by the second distance coefficient to obtain the fourth distance, and the distance from the unmanned aerial vehicle to the device of the control unmanned aerial vehicle is adjusted to the smaller value of the fourth distance and the third distance.

[0143] In the secondary regulation, the delay risk coefficient is regulated to 1, that is, the regulation ratio of the delay risk coefficient is 1 divided by the delay risk coefficient, which is equal to the inverse of the delay risk coefficient. The regulation ratio of the distance is obtained by substituting the delay adjustment function. Here, it should be noted that if the third distance does not exceed the fourth distance, the primary regulation has met the demand, that is, the third distance can be used. If the third distance exceeds the fourth distance, the fourth distance is used as the final distance. Thus, the smaller value of the fourth distance and the third distance is finally used. In addition, the first distance is multiplied by the second distance coefficient because the calculation of the delay risk coefficient of the channel corresponds to the first distance at this time. Therefore, the basis of the adjustment is also based on the first distance. Thus, the fourth distance is calculated by multiplying the first distance by the second distance coefficient.

[0144] The unmanned aerial vehicle control system based on Bluetooth communication is used to implement the unmanned aerial vehicle control method based on Bluetooth communication, and comprises:

[0145] The data acquisition module monitors the signal strength and information transmission parameter sequence of the Bluetooth communication of the unmanned aerial vehicle in real time.

[0146] The stability analysis module performs trend analysis on the signal strength, calculates the signal strength abnormal characteristic value according to the stability degree of the signal strength, and evaluates the stability coefficient of the Bluetooth communication according to the signal strength abnormal characteristic value.

[0147] The delay analysis module calculates the feedback delay characteristic value according to the information transmission parameter sequence, and evaluates the delay risk coefficient of the channel according to the feedback delay characteristic value.

[0148] The model establishment module establishes the stability coefficient adjustment model and the delay regulation model.

[0149] The distance regulation module initially adjusts the distance from the unmanned aerial vehicle to the device for controlling the unmanned aerial vehicle according to the stability coefficient of the Bluetooth communication.

[0150] The delay regulation module secondarily adjusts the distance from the unmanned aerial vehicle to the device for controlling the unmanned aerial vehicle according to the delay risk coefficient.

[0151] Further, the present scheme further proposes a storage medium having a computer readable program stored thereon, and the computer readable program is executed when called to perform the unmanned aerial vehicle control method based on Bluetooth communication.

[0152] It can be understood that the storage medium can be a magnetic medium, such as a floppy disk, a hard disk, a magnetic tape; an optical medium such as a DVD; or a semiconductor medium such as a solid state disk (SSD) and the like.

[0153] In summary, the application has the advantages that: by evaluating the stability coefficient of Bluetooth communication, evaluating the delay risk coefficient of the channel, establishing the stability coefficient adjustment model and establishing the delay control model, the stability and delay of the communication can be evaluated according to the calculation of the signal strength abnormal characteristic value and the calculation of the feedback delay characteristic value, and during the evaluation, the multiple data are comprehensively evaluated to avoid inaccurate evaluation caused by single data abnormality, and meanwhile, the influence of the distance control on the stability and delay of the communication is accurately estimated by using the established model, so that the distance can be adjusted according to the real-time acquired stability coefficient and delay risk coefficient, the distance is reduced as small as possible under the condition of meeting the stability and delay requirements of the communication, the unmanned aerial vehicle is relatively free, and the designated task can be better completed.

[0154] The basic principle, main features and advantages of the application are shown and described above. It should be understood by those skilled in the art that the application is not limited by the above examples, and the above examples and descriptions in the specification are only the principles of the application. Without departing from the spirit and scope of the application, various changes and improvements can be made to the application, and these changes and improvements all fall within the scope of the claimed application. The scope of protection of the application is defined by the appended claims and their equivalents.

Claims

1. A method for controlling a drone based on Bluetooth communication, characterized in that, include: Real-time monitoring of the signal strength and information transmission parameter sequence of the drone's Bluetooth communication; Perform trend analysis on signal strength, calculate abnormal signal strength characteristic values ​​based on the stability of signal strength, and evaluate the stability coefficient of Bluetooth communication based on the abnormal signal strength characteristic values. Based on the information transmission parameter sequence, calculate the feedback delay characteristic value, and based on the feedback delay characteristic value, evaluate the channel delay risk coefficient; Establish a stability coefficient adjustment model and a delayed control model; Based on the stability coefficient of Bluetooth communication, the distance between the drone and the device controlling the drone is initially adjusted. Based on the delay risk factor, the distance between the drone and the device controlling the drone is adjusted a second time.

2. The UAV control method based on Bluetooth communication according to claim 1, characterized in that, The evaluation of the stability coefficient of Bluetooth communication includes the following steps: The system acquires the signal strength of the drone's Bluetooth communication in real time, performs trend analysis on the signal strength, and calculates abnormal signal strength characteristic values ​​based on the stability of the signal strength. Acquire at least one historical communication process of the Bluetooth communication drone, wherein the historical communication process is a communication process with qualified communication quality; Based on the signal strength in historical communication processes, calculate the abnormal characteristic values ​​of signal strength in historical communication processes, and use them as stable reference values; Use the maximum value of at least one stable reference value as the first preset threshold; The ratio of the first preset threshold to the abnormal signal strength characteristic value is used as the stability coefficient of Bluetooth communication.

3. The UAV control method based on Bluetooth communication according to claim 2, characterized in that, The calculation of signal strength anomaly feature values ​​includes the following steps: The signal strength sequence in the Bluetooth communication of the drone is acquired in real time. The signal strength sequence consists of at least one actual signal strength, and the acquisition interval between adjacent actual signal strengths is equal. Count at least one peak of the actual signal strength, and use the maximum and minimum values ​​of the vertical coordinate of the peak to form the peak interval; The first interval is obtained by intersecting the peak intervals of at least one actual signal strength. The portion of the peak interval that does not overlap with the first interval is taken as the second interval. The average length of at least one second interval is taken to obtain the first feature value. Count at least one trough of the actual signal strength, and use the maximum and minimum values ​​of the vertical coordinate of the trough to form the trough interval; The third interval is obtained by intersecting at least one trough interval of the actual signal strength. The portion of the trough interval that does not overlap with the third interval is taken as the fourth interval. The average length of at least one fourth interval is taken to obtain the second characteristic value. The first and second eigenvalues ​​are summed to obtain the signal strength anomaly eigenvalue.

4. The UAV control method based on Bluetooth communication according to claim 3, characterized in that, The evaluation of the channel's delay risk coefficient includes the following steps: The system acquires the information transmission parameter sequence in the drone's Bluetooth communication in real time, and calculates the feedback delay characteristic value based on the information transmission parameter sequence. Based on the sequence of information transmission parameters in historical communication processes, the feedback delay characteristic value of historical communication processes is calculated and used as a delay reference value. Use the maximum value of at least one delay reference value as the second preset threshold; The ratio of the second preset threshold to the feedback delay characteristic value is used as the channel delay risk coefficient.

5. The UAV control method based on Bluetooth communication according to claim 4, characterized in that, The calculation of the feedback delay characteristic value includes the following steps: The sequence of information transmission parameters reported by the UAV equipment within a preset time period is collected. The sequence of information transmission parameters consists of at least one UAV control command and the time interval between sending and receiving the UAV control command. Based on historical data, the time taken to obtain information on the amount of data transmitted per unit of data via Bluetooth communication of the drone is used as the baseline time. The theoretical transmission time is obtained by dividing the amount of data contained in the UAV control command by the unit data amount and then multiplying it by the reference time. The actual delay time of the UAV control command is obtained by subtracting the length of the time interval between sending and receiving the UAV control command from the theoretical transmission time of the UAV control command, and the total number of actual delay times is used as the target value. Form at least one actual delay combination, which consists of the actual delay times of any two UAV control commands; Obtain the time allowable error in the Bluetooth communication of the drone, classify and summarize at least one actual delay time to form at least one set of actual delay times, wherein the difference between any two actual delay times in the set of actual delay times is less than the time allowable error; The existence weight of the actual delay time is equal to the ratio of the number of elements in the actual delay time set to the target value; The verification value of the actual delay combination is obtained by multiplying the two actual delay times in the actual delay combination with their corresponding existence weights, taking the difference and the absolute value. The average value of the verification values ​​of at least one actual delay combination is then taken to obtain the feedback delay feature value.

6. The unmanned aerial vehicle (UAV) control method based on Bluetooth communication according to claim 5, characterized in that, The establishment of the stability coefficient adjustment model includes the following steps: The range of distance values ​​from the drone to the device controlling the drone is divided into equal intervals to obtain at least one test point; Under the same communication environment, and provided that the distance from the drone to the device controlling the drone is equal to the value at the test point, the current stability coefficient of the Bluetooth communication is obtained and recorded as the test stability coefficient. The test point with the smallest value is used as the baseline test point; The ratio of the test point value to the baseline test point value is used as the distance adjustment coefficient for the test point. The ratio of the test stability coefficient corresponding to the test point to the test stability coefficient corresponding to the benchmark test point is used as the stability control coefficient of the test point. The stability control coefficient of the test point is paired with the distance control coefficient of the test point and fitted to obtain the stability adjustment function, where the stability control coefficient is the independent variable and the distance control coefficient is the dependent variable.

7. The UAV control method based on Bluetooth communication according to claim 6, characterized in that, The establishment of the delay control model includes the following steps: Under the same communication environment, and provided that the distance from the UAV to the device controlling the UAV is equal to the value at the test point, the current delay risk coefficient of the channel is obtained and denoted as the test delay coefficient. The ratio of the test delay coefficient corresponding to the test point to the test delay coefficient corresponding to the benchmark test point is used as the delay control coefficient of the test point. The delay adjustment coefficient and the distance adjustment coefficient of the test points are paired and fitted to obtain the delay adjustment function, where the delay adjustment coefficient is the independent variable and the distance adjustment coefficient is the dependent variable.

8. The unmanned aerial vehicle (UAV) control method based on Bluetooth communication according to claim 7, characterized in that, The initial adjustment of the distance between the drone and the device controlling the drone, based on the stability coefficient of Bluetooth communication, includes the following steps: The distance from the drone to the device controlling it before adjustment is taken as the first distance; When the stability coefficient of Bluetooth communication does not exceed 1, the distance adjustment amplitude is 0; otherwise, the reciprocal of the stability coefficient of Bluetooth communication is substituted into the stability adjustment function to obtain the first distance coefficient. The first distance is multiplied by the first distance coefficient to obtain the second distance, and the distance from the drone to the device controlling the drone is adjusted to the second distance.

9. A method for controlling a drone based on Bluetooth communication according to claim 8, characterized in that, The process of adjusting the distance between the drone and the device controlling it based on the delay risk coefficient includes the following steps: The distance from the drone after the initial adjustment to the device controlling the drone is taken as the third distance; When the channel delay risk coefficient does not exceed 1, the distance adjustment amplitude is 0; otherwise, the reciprocal of the channel delay risk coefficient is substituted into the delay adjustment function to obtain the second distance coefficient. The first distance is multiplied by the second distance coefficient to obtain the fourth distance. The distance from the drone to the device controlling the drone is then adjusted to the smaller of the fourth distance and the third distance.

10. A Bluetooth-based unmanned aerial vehicle (UAV) control system, used to implement the Bluetooth-based UAV control method as described in any one of claims 1-9, characterized in that, include: The data acquisition module monitors the signal strength and information transmission parameter sequence of the UAV's Bluetooth communication in real time. The stability analysis module performs trend analysis on the signal strength, calculates abnormal signal strength characteristic values ​​based on the stability of the signal strength, and evaluates the stability coefficient of Bluetooth communication based on the abnormal signal strength characteristic values. The delay analysis module calculates feedback delay characteristic values ​​based on the information transmission parameter sequence, and evaluates the channel delay risk coefficient based on the feedback delay characteristic values. The model building module establishes a stability coefficient adjustment model and a delay control model. A distance adjustment module, which initially adjusts the distance between the drone and the device controlling the drone based on the stability coefficient of Bluetooth communication; The delay control module adjusts the distance between the drone and the device controlling the drone a second time based on the delay risk coefficient.

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