Formation aircraft customized base station wireless redundancy difference method

Abstract

The invention provides a formation aircraft customized base station wireless redundancy difference method, which comprises the following steps that: 1, each GPS board card is connected with an own antenna and is connected with a single chip microcomputer MCU (Microprogrammed Control Unit) through an RS232 (Recommend Standard 232), the GPS board cards send differential data to the single chip microcomputer through the RS232, the single chip microcomputer subpacks the data after receiving a differential message, and transmits the data to the single chip microcomputer MCU; connecting a radio station and a computer through other serial ports, and sending out the differential data packet; 2, after receiving the differential data, the 900MHz radio station and the 2.4 GHz radio station directly send the differential data to the airplane through a radio station link, and the airplane receives the differential data and carries out resolving; according to the method, the process from sending to receiving of the differential message is reliable by using the method for sending the differential message through redundancy of the radio station link and the wifi link; by using the method of separating the GPS board card from the MCU circuit, the function of generating differential messages by quickly replacing the board cards of a plurality of GPS manufacturers in some extreme occasions is realized, and the overall availability and flexibility of the base station are greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) control systems, specifically a method for differential wireless redundancy of customized base stations for formation aircraft. Background Technology

[0002] In the field of formation flight control, formation aircraft rely on differential messages sent by base stations and their stable reception to achieve centimeter-level reliable positioning. Currently, the base station boards designed for formation flight can only send differential data to the aircraft via a single link through radio or Wi-Fi. During long-distance communication (300-800m), the single link cannot reliably transmit differential messages. After data interruption, the aircraft's positioning accuracy drops from centimeter-level to meter-level, posing a risk of collision between aircraft. The system suffers from problems such as a single transmission link, non-rapid replacement of board connections, and inflexible connection methods. As a result, the equipment does not meet the requirements of some formation flight scenarios, failing to provide aircraft with stable and reliable differential messages, or failing to quickly achieve centimeter-level positioning accuracy after receiving differential messages. In summary, this invention provides a method for customized base station wireless redundancy differential for formation aircraft to solve the above-mentioned problems. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention provides a method for customized base station wireless redundancy differential for formation aircraft, thereby resolving issues such as the inability to quickly achieve centimeter-level positioning accuracy after receiving differential messages in existing technologies.

[0004] A method for customized base station wireless redundancy differential for formation aircraft includes the following steps: Step 1: Each GPS board connects to its own antenna and connects to the microcontroller MCU via RS232. The GPS board sends differential data to the microcontroller via RS232. After receiving the differential message, the microcontroller divides the data into packets and then sends the differential data packets through other serial ports connected to the radio and computer. Step 2: After receiving the differential data, the 900MHz and 2.4GHz radios directly transmit it to the aircraft via the radio link. The aircraft then receives the differential data and performs the calculation. Step 3: After connecting to the computer via RS232, the ground station software on the computer processes the data and sends it to the aircraft via the network, thus creating message redundancy between the network link and the radio link.

[0005] Furthermore, in step three, after the RS232 is connected to the computer, the differential messages sent by the base station can be configured and commands can be sent through the ground station software on the computer to turn on or off differential messages such as GPS, Beidou, GLONASS, and Galileo, thereby reducing the data load on the communication link.

[0006] Furthermore, the GPS board is directly connected to the antenna and establishes a communication link with the microcontroller MCU through an RS232 level conversion chip. The TXD pin of the GPS module is connected to the input pin of the chip, and the RXD pin of the microcontroller MCU is connected to the output pin of the chip to achieve level matching. The microcontroller MCU also expands two serial ports to connect to the radio module and the computer serial port respectively, forming a redundant output channel.

[0007] Furthermore, the GPS board output adopts the NMEA-0183 standard protocol, in which the GPRMC statement contains key latitude, longitude, speed and time information. The microcontroller (MCU) receives this data through the UART protocol and extracts valid differential correction information from the NMEA format.

[0008] Furthermore, the aircraft receives differential data via the dual-band 900MHz and 2.4GHz radio, merging redundant data from different frequency bands. The data link uses radio frequency transmission to send and receive information to and from the UAV, including location, remaining flight time, distance and location to the target, payload information, airspeed, altitude, and many other parameters.

[0009] Furthermore, the UAV transmits flight status, telemetry, and other data to the ground station computer via an RS232 serial port. The RS232 uses a negative logic level, and the UAV simultaneously receives data from the ground station network link and the airborne 900MHz and 2.4GHz radio links.

[0010] Furthermore, the microcontroller (MCU) is configured with multiple serial ports, which are used for GPS data reception, radio data transmission, and computer data transmission, respectively.

[0011] Furthermore, the system supports independently enabling or disabling the differential data output of satellite systems such as GPS, BeiDou, GLONASS, and Galileo. Users can select a specific system according to their actual needs to reduce communication load. When only high-precision GPS positioning is required, the differential data streams of other systems can be turned off.

[0012] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention utilizes a method of redundant transmission of differential messages via radio links and Wi-Fi links, ensuring reliable transmission and reception of differential messages. By separating the GPS board from the microcontroller (MCU) circuit, it enables the rapid replacement of GPS boards from multiple manufacturers to generate differential messages in extreme situations, significantly improving the overall availability and flexibility of the base station. It also solves the technical problem of stable positioning during global formation aircraft flight performances, achieving stable formation performances.

[0013] 2. This invention improves the stability of differential message transmission and reception by using redundant data transmission through network communication and radio communication, and by flexibly connecting a GPS board to a microcontroller (MCU) to switch differential data sources, thereby increasing operational flexibility in extreme field operating environments.

[0014] 3. This invention establishes a dual-link redundant transmission channel for differential data through ground station software. Combining serial communication and network programming technologies, it enables data forwarding from the RS232 serial port to the network (TCP / UDP), complementing the existing radio link and improving system reliability. Attached Figure Description

[0015] Figure 1 This is a structural block diagram of the present invention; Figure 2 This is a flowchart of the method of the present invention. Detailed Implementation

[0016] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0017] like Figures 1-2 As shown, the present invention provides a method for customized base station wireless redundancy differential for formation aircraft, comprising the following steps: Step 1: Each GPS board connects to its own antenna and connects to the microcontroller MCU via RS232. The GPS board sends differential data to the microcontroller via RS232. After receiving the differential message, the microcontroller divides the data into packets and then sends the differential data packets through other serial ports connected to the radio and computer. Step 2: After receiving the differential data, the 900MHz and 2.4GHz radios directly transmit it to the aircraft via the radio link. The aircraft then receives the differential data and performs the calculation. Step 3: After connecting to the computer via RS232, the ground station software on the computer processes the data and sends it to the aircraft via the network, thus creating message redundancy between the network link and the radio link.

[0018] In one embodiment of the present invention, in step three, after the RS232 is connected to the computer, the differential messages sent by the base station can be configured and commands can be sent through the ground station software on the computer to turn on or off differential messages such as GPS, Beidou, GLONASS, and Galileo, thereby reducing the data load on the communication link.

[0019] In one embodiment of the present invention, the GPS board is directly connected to the antenna and establishes a communication link with the microcontroller MCU through an RS232 level conversion chip. The TXD pin of the GPS module is connected to the input pin of the chip, and the RXD pin of the microcontroller MCU is connected to the output pin of the chip to achieve level matching. The microcontroller MCU also expands two serial ports to connect to the radio module and the computer serial port respectively, forming a redundant output channel.

[0020] As one embodiment of the present invention, the GPS board output adopts the NMEA-0183 standard protocol, wherein the GPRMC statement contains key latitude, longitude, speed and time information. The microcontroller MCU receives these data through the UART protocol and extracts the effective differential correction information from the NMEA format.

[0021] In one embodiment of the present invention, the aircraft receives differential data via a dual-band radio (900MHz and 2.4GHz) and merges redundant data from different frequency bands. The data link uses radio frequency transmission to send and receive information to and from the UAV. The transmitted content includes position, remaining flight time, distance and position to the target, payload information, airspeed, altitude, and many other parameters.

[0022] As one embodiment of the present invention, the UAV sends flight status, telemetry and other data to the ground station computer via RS232 serial port. RS232 uses negative logic level. The UAV simultaneously receives data from the ground station network link and the airborne 900MHz and 2.4GHz radio links.

[0023] As one embodiment of the present invention, the microcontroller (MCU) is configured with multiple serial ports, which are used for GPS data reception, radio data transmission and computer data transmission, respectively.

[0024] As one embodiment of the present invention, it supports independently enabling or disabling the differential data output of satellite systems such as GPS, BeiDou, GLONASS, and Galileo. Users can select a specific system according to their actual needs to reduce communication load. When only high-precision GPS positioning is required, the differential data streams of other systems can be turned off.

[0025] By selectively sending differential messages, the amount of data transmitted on a radio or network link can be effectively reduced. For example, by disabling differential data in unnecessary systems, the packet size of the RTCM protocol can be significantly reduced, improving transmission efficiency. The ground station software is designed with user-friendliness in mind, enabling real-time monitoring and management of differential data streams through a graphical interface. Users can intuitively view the current communication link status, data traffic, and the operational status of each satellite system on the interface, and flexibly adjust parameter settings according to actual needs. For example, when the signal quality of a satellite deteriorates, the system will automatically issue a prompt, and users can choose to disable the differential data output of the corresponding system, thereby avoiding unnecessary communication load.

[0026] It adopts frequency hopping spread spectrum (FHSS) technology, which has strong penetration and is suitable for scenarios with many obstacles. The transmission distance can reach more than 10 kilometers. Interference immunity: Its low-frequency characteristics give it better interference immunity than 2.4GHz, and it performs more stably in complex electromagnetic environments; Applicable scenarios: Suitable for stable transmission of low-to-medium speed data (such as flight control commands and differential data), especially suitable for long-distance communication needs; Transmission rate: Supports higher bandwidth, suitable for scenarios requiring high-speed data transmission; Transmission distance: Relatively short, greatly affected by obstacles, suitable for line-of-sight communication; Suitable for applications requiring high data rates, such as image transmission. This invention utilizes a method of redundant differential message transmission via radio and Wi-Fi links, ensuring reliable transmission and reception of differential messages. By separating the GPS board from the microcontroller (MCU) circuit, it enables rapid replacement of GPS boards from multiple manufacturers to transmit differential messages in extreme situations, significantly improving the overall availability and flexibility of the base station. It solves the technical problem of stable positioning during global flight demonstrations of formation aircraft, achieving stable formation performances. Through redundant data transmission via network and radio communication, and flexible switching of differential data sources via GPS board connection to the MCU, it improves the stability of differential message transmission and reception, enhances operational flexibility in extreme operating environments, and establishes a dual-link redundant transmission channel for differential data through ground station software. Combining serial communication and network programming technologies, it enables data forwarding from the RS232 serial port to the network (TCP / UDP), complementing the existing radio link and improving system reliability.

[0027] In practical applications, this method not only meets the positioning needs of formation aircraft in complex environments but also dynamically adjusts the communication link configuration according to the mission scenario. For example, in urban environments with dense buildings and strong electromagnetic interference, the 900MHz band can be selected as the primary transmission channel, utilizing its strong penetration and anti-interference capabilities to ensure stable transmission of differential data. In open areas or application scenarios requiring high bandwidth, the frequency can be switched to the 2.4GHz band to support higher data transmission rates.

[0028] Through the above design, this invention successfully constructs a highly efficient, flexible, and stable differential data transmission system, providing a solid technical guarantee for the precise positioning and coordinated control of formation aircraft. Whether in global flight demonstrations or special missions under complex terrain conditions, this method demonstrates excellent adaptability and reliability, significantly improving overall operational efficiency and safety.

[0029] The embodiments of the present invention are given for the purposes of illustration and description. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for custom base station wireless redundancy differencing for formation aircraft, comprising: It comprises the following steps: Step one: each GPS board and its own antenna are connected, and are connected with the single-chip microcomputer MCU through RS232, the GPS board sends differential data to the single-chip microcomputer through RS232, the single-chip microcomputer receives the differential message, packages the data, and then sends the differential data package to the radio and the computer through other serial ports; Step two: after receiving the differential data, the 900MHz and 2.4GHz radios send the differential data to the aircraft directly through the radio link, and the aircraft receives the differential data and solves it; Step three: after being connected to the computer through RS232, the ground station software on the computer processes the data received by the serial port, sends the data to the aircraft through the network, and forms a network link and radio link message redundancy.

2. The method of claim 1, wherein, In step three, after being connected to the computer through RS232, the ground station software on the computer can also configure and send instructions to the differential message sent by the base station to open or close the differential message of GPS, Beidou, Glonass, Galileo, etc., to reduce the data load of the communication link.

3. The method of claim 1, wherein, The GPS board is directly connected with the antenna, and a communication link is established between the GPS board and the single-chip microcomputer MCU through an RS232 level conversion chip, the TXD pin of the GPS module is connected to the input pin of the chip, the RXD pin of the single-chip microcomputer MCU is connected to the output pin of the chip, level matching is realized, and the single-chip microcomputer MCU is additionally expanded with two serial ports, which are connected with the radio module and the computer serial port respectively to form a redundant output channel.

4. The method of claim 1, wherein, The GPS board outputs adopt the NMEA-0183 standard protocol, wherein the GPRMC statement contains key longitude and latitude, speed and time information, the single-chip microcomputer MCU receives these data through the UART protocol, and extracts the effective differential correction information from the NMEA format.

5. The method of claim 1, wherein, The aircraft receives the differential data through the 900MHz and 2.4GHz radio dual-band radios, merges the redundant data from different frequency bands, and uses a radio frequency data link to send and receive information to and from the unmanned aerial vehicle, and the transmission content includes position, remaining flight time, distance and position to the target, payload information, airspeed, altitude and many other parameters.

6. The method of claim 1, wherein, The unmanned aerial vehicle sends flight status, telemetry and other data to the ground station computer through the RS232 serial port, RS232 adopts negative logic level, and the aircraft end simultaneously receives data from the ground station network link and the onboard 900MHz and 2.4GHz radio link.

7. The method of claim 1, wherein, The single-chip microcomputer MCU is configured with multiple serial ports for GPS data reception, radio data transmission and computer data transmission.

8. The method of claim 1, wherein, The differential data output of the satellite systems of GPS, Beidou, Glonass and Galileo can be independently turned on or off, users can select specific systems according to actual needs to reduce communication load, and when only GPS high-precision positioning is required, the differential data stream of other systems can be turned off.

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