Beidou-based unmanned aerial vehicle global course flight automatic control system and method

Abstract

The invention discloses a Beidou-based unmanned aerial vehicle global course flight automatic control system and method, and belongs to the technical field of unmanned aerial vehicle flight control. The airborne end equipment integrates a main control processing unit, a Beidou RNSS positioning module, a Beidou RDSS communication module and a flight control protocol conversion middleware, and is responsible for acquiring the position and attitude information of the unmanned aerial vehicle in real time, packaging the information into a state monitoring message and returning the state monitoring message; and the ground monitoring platform receives the analysis message and displays the state of the unmanned aerial vehicle in real time. The core lies in that a track deviation model and a pure tracking control algorithm are built in the ground monitoring platform, the three-dimensional deviation between the unmanned aerial vehicle and a preset route is solved in real time through a mathematical method, and a control instruction is automatically generated and packaged into a Beidou control message to be issued; the airborne end device issues instructions such as return flight and course correction to the unmanned aerial vehicle flight control through the protocol conversion middleware, and a remote control closed loop is formed. According to the invention, geographical restrictions of traditional ADS-B and 5G technologies are overcome by using the Beidou short message, and reliable technical guarantee can be provided for global safe flight of the low-altitude unmanned aerial vehicle.

Description

Technical Field

[0001] This invention relates to an automatic flight control method for unmanned aerial vehicles (UAVs) with all-domain flight paths based on the BeiDou Navigation Satellite System, belonging to the field of UAV flight control technology. Background Technology

[0002] With the rapid development of the low-altitude economy, drones are increasingly used in logistics, surveying, agriculture, emergency rescue, and other fields, leading to a significant increase in the frequency and density of their flight activities. However, the widespread adoption of drones has also brought serious regulatory challenges, particularly in how to effectively monitor and control drones in a wide area to prevent unauthorized flights, blind flights, and incursions into no-fly zones, which has become a key issue for the industry's development.

[0003] Currently, low-altitude UAV positioning mainly relies on the following technologies, but all have significant limitations. First, while ADS-B (Automatic Dependent Surveillance-Broadcast) technology can provide relatively rich flight status information, its effective range is short and it depends on ground receiving station networks, resulting in numerous coverage blind spots in remote areas such as oceans and mountains. Second, mobile communication technologies, represented by 5G / 4G, perform well in densely populated areas such as cities, but their positioning capabilities immediately fail in areas without ground signal coverage. Furthermore, traditional radio telemetry and control technologies have limited range, making it difficult to meet the needs of all-domain flight control.

[0004] It is worth noting that existing research has explored the use of BeiDou RDSS (Radio Determination Service) short message communication technology for aircraft surveillance data transmission. These schemes typically utilize BeiDou short messages to transmit surveillance data generated by other devices (such as ADS-B receivers), serving as a supplementary communication method in areas where ADS-B signals are not available. However, these schemes primarily focus on one-way data transmission and monitoring, with relatively limited functionality, lacking the ability to remotely control UAVs in a closed-loop manner, especially in issuing flight control commands (such as return-to-home, hovering, etc.) within communication blind spots.

[0005] At the control level, existing remote control of drones largely relies on continuous and stable communication links. Once the drone leaves the ground control signal or cellular network coverage area, the operator loses control of the drone and is unable to intervene in emergencies. Although the BeiDou short message service offers a possibility for solving this problem, its systematic and effective application in two-way command and control, along with the design of matching efficient communication protocols and intelligent control algorithms, remains a weak link in current technology.

[0006] On the other hand, the BeiDou Navigation Satellite System itself is also constantly evolving. Compared to the second generation, the BeiDou-3 system has achieved a qualitative leap in short message communication capabilities. Its global coverage, single-message capacity (up to 1000 Chinese characters, or approximately 2000 bytes), and communication frequency (as low as 1 second interval) have been significantly improved, laying the hardware foundation for transmitting more complex UAV status information and flight commands. Simultaneously, the industry has also released group standards (such as T / ZSA199-2023) regarding the use of BeiDou short messages for unmanned aerial vehicle (UAV) monitoring data transmission, fully demonstrating the practical needs and standardization progress of this technology.

[0007] In summary, the current field of low-altitude UAV flight control urgently needs a global flight control solution that integrates high-precision positioning, reliable two-way communication, and intelligent flight control, and is not limited by geographical location. Summary of the Invention

[0008] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a Beidou-based automatic flight control method for all-domain flight paths of unmanned aerial vehicles (UAVs), which solves the problem that existing UAV flight control technologies cannot achieve effective monitoring and control in communication blind spots.

[0009] The technical solution of this invention is: Firstly, a BeiDou-based automatic flight control system for unmanned aerial vehicles (UAVs) across all flight paths, comprising airborne terminal equipment and a ground monitoring platform; the airborne terminal equipment includes: The main control processing unit receives UAV status data sent by the flight control protocol conversion middleware, and uses it to schedule and merge data from various modules, perform communication protocol encapsulation and parsing, and manage task logic. The Beidou RNSS positioning module is used to receive Beidou satellite signals, calculate and output the latitude, longitude, elevation, speed, time and heading angle information of each UAV to the main control processing unit in real time, so as to realize the single-point positioning of each UAV. The Beidou RDSS communication module has a two-way communication link with the Beidou satellite, and has the ability to transmit and receive satellite signals. It is used to send status monitoring messages to the ground monitoring platform and receive control command messages sent by the ground monitoring platform. The flight control protocol conversion middleware provides a standard hardware interface to connect with the UAV's native flight control system. On the one hand, it obtains UAV status data, including attitude angle, battery level, and alarm status, from the UAV's flight control bus and sends it to the main control processing unit. On the other hand, it converts the standardized control commands received from the Beidou link into native commands that the UAV flight control system can recognize, thereby achieving secure isolation and reliable execution of commands. The ground monitoring platform includes: The communication service module is equipped with a ground operation system interface for communicating with the BeiDou RDSS communication module, and completes the sending and receiving of all inbound and outbound messages; The data parsing and storage module parses the status monitoring messages forwarded by the communication service module, extracts the UAV status data, and sends it to the visualization monitoring and intelligent decision-making and control module, completing the relevant information storage. On the other hand, it receives control commands sent by the intelligent decision-making and control module, encapsulates them into control command messages according to standards, sends them to the airborne terminal device Beidou RDSS communication module through the communication service module, and completes the relevant information storage. The visualization monitoring module receives drone status and control command data sent by the data parsing and storage module and the intelligent decision-making and control module. On the electronic map-based interface, it displays the location, trajectory, status parameters and alarm information of all online drones in real time, and provides a human-machine interface for drone control. The intelligent decision control module has a built-in trajectory deviation model and pure tracking control algorithm. Based on the UAV status data sent by the data parsing and storage module, it automatically or manually generates flight control commands and sends them to the data parsing and storage module to complete the control command message encapsulation. The commands are then sent to the target UAV through the communication service module and the Beidou communication link.

[0010] Secondly, a flight automatic control method based on the aforementioned flight automatic control system includes: The Beidou RNSS positioning module performs passive positioning and obtains UAV status data from the flight control system through the flight control protocol conversion middleware. The main control processing unit performs fusion calibration on the UAV status data. The main control processing unit encapsulates the fused and calibrated UAV status data into a status monitoring message according to a preset binary compression format, and sends it to the BeiDou satellite via the BeiDou RDSS communication module and then to the BeiDou RDSS ground operation system. The ground monitoring center communication service module receives status monitoring messages from the BeiDou RDSS ground operation system and forwards them to the data parsing and storage module. After parsing the status monitoring message sent by the communication service module, the data parsing and storage module generates UAV status data including the UAV's unique ID, spatiotemporal reference, flight attitude and status, and sends it to the visualization monitoring interface. The UAV icon and status are updated in real time on the visualization monitoring interface to achieve full-domain monitoring. The intelligent decision control module calculates the UAV status data sent by the data parsing and storage module using the built-in trajectory deviation model. If it determines that the UAV deviates from the preset route by more than the safety threshold, it generates control commands according to the pure tracking control algorithm and sends them to the data parsing and storage module to be encapsulated into control command messages. These messages are then sent to the target UAV through the communication service module and the Beidou communication link. After the Beidou RDSS communication module of the target UAV's onboard terminal device receives the message, the main control processing unit performs identity authentication and CRC verification. After successful verification, the control command message is transmitted to the flight control protocol conversion middleware, converted into flight control commands, and injected into the flight control system for execution, completing the return, hovering, or heading correction actions.

[0011] Furthermore, the total length of the status monitoring message is approximately 37 bytes, including: Frame header, protocol version, and unique drone ID; Spatiotemporal references: UTC timestamp, double-precision latitude and longitude, floating-point elevation and velocity; Flight attitude and status: heading angle, pitch / roll angle, battery level; Flight status word: A single byte of bits defines various states of the drone, including normal / alarm, manual / automatic mode, GPS positioning / predictive positioning; Data quality indicator: Used to identify the reliability level of the current location data; CRC16 checksum.

[0012] Furthermore, the trajectory deviation model achieves a three-dimensional decoupled evaluation of the UAV's position: First, the UAV's real-time three-dimensional position coordinates are spatially projected onto the current tracking segment to obtain the corresponding projection point position and the projection ratio parameter representing the relative position of the projection point on the segment. Based on the above projection results, the deviation in the three dimensions is calculated respectively: Lateral deviation: obtained by calculating the straight-line distance between the real-time position of the UAV and its projection point on the horizontal plane, used to characterize the tracking accuracy of the UAV in the planar heading direction; Longitudinal deviation: obtained by calculating the path distance between the projection point and the starting point of the current flight segment, used to characterize the flight progress of the UAV; Elevation deviation: obtained by calculating the height difference between the real-time position of the UAV and its projection point, used to characterize the tracking accuracy of the UAV in the vertical profile direction; The ground monitoring platform compares the deviations in the above three dimensions with their respective preset safety thresholds to perceive the spatial deviation of the UAV, providing a precise quantitative basis for subsequent control command generation, thereby achieving flight control across the entire domain.

[0013] Furthermore, the pure tracking control algorithm is used to abstract the UAV as a spatial point mass and perform forward control, including: The ground monitoring platform dynamically calculates the required aiming distance based on the drone's current ground speed and the preset aiming gain coefficient. This aiming distance is directly proportional to the ground speed. On the preset three-dimensional flight path, starting from the projection point of the UAV's current position, advance the aiming distance along the flight path to determine a aiming point in three-dimensional space; By solving the spatial vector from the current position of the UAV to the target point, control quantities in the horizontal and vertical directions are generated respectively. Horizontal control input: By calculating the azimuth angle of the spatial vector on the horizontal plane, the desired yaw angle command is obtained, which is used to guide the UAV to perform horizontal turning control. Vertical control variable: The desired climb angle is obtained by calculating the angle between the vertical component of the spatial vector and its horizontal modulus. Then, the desired climb rate command is derived by combining the UAV airspeed, which is used to guide the UAV to perform vertical maneuver control.

[0014] Furthermore, the total length of the control command message is 24 bytes, including: Frame header, protocol version, target drone ID; Command serial number: used for command response and anti-duplicate processing; Control command code: a predefined enumeration value; Command parameters; Authorization code: Used for security authentication to prevent malicious control.

[0015] Thirdly, a computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the BeiDou-based unmanned aerial vehicle (UAV) all-domain flight automatic control method.

[0016] Fourthly, a BeiDou-based unmanned aerial vehicle (UAV) all-domain flight automatic control device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the BeiDou-based UAV all-domain flight automatic control method.

[0017] The advantages of this invention compared to the prior art are: (1) A state-command dual-channel space-ground collaborative control architecture was created: The state feedback and control command dual-channel mode of Beidou RDSS communication was innovatively designed, and a complete closed loop of "perception-decision-control" was established. Through command sequence number management and two-way confirmation mechanism, reliable transmission and execution verification of control commands were realized on low-bandwidth and high-latency satellite links, solving the technical problem that traditional one-way communication cannot ensure the delivery of commands.

[0018] (2) A method for precise quantization of three-dimensional flight paths based on spatial vector projection decoupling is proposed: By projecting and decoupling the spatial position vector of the UAV on a preset flight segment, the independent deviations in the three dimensions of lateral, longitudinal, and elevation are calculated precisely. This method overcomes the limitations of traditional two-dimensional planar positioning and provides a mathematical basis for refined flight control in three-dimensional space.

[0019] (3) A speed-adaptive dynamic pre-aiming pure tracking control algorithm was designed: The pure tracking algorithm was innovatively combined with the motion characteristics of the UAV. Through the dynamic adjustment mechanism of the pre-aiming distance, the control system can adapt to the control requirements at different flight speeds. The algorithm is essentially a predictive controller, and the mechanism itself compensates for the time delay of satellite communication signal transmission and processing.

[0020] (4) It has efficient and reliable data transmission capabilities: In response to the pain point of limited capacity of Beidou short messages, a binary message format with high compression ratio is designed to maximize the effective payload of a single communication. At the same time, through mechanisms such as CRC check, identity authentication and instruction sequence number, the integrity and security of key control information transmission are ensured.

[0021] (5) A standardized system solution has been formed: By defining a unified message format and flight control protocol conversion middleware, the standardized conversion of control protocols of different UAV manufacturers can be achieved through the command mapping table, which shields the differences between different UAV platforms and has good compatibility and scalability, laying the foundation for building a large-scale, cross-platform low-altitude UAV flight control network. Attached Figure Description

[0022] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a basic schematic diagram of the automatic flight control method for all-domain flight paths of UAVs based on BeiDou according to this application. Detailed Implementation

[0023] To better understand the above technical solutions, the technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solutions of the present invention, rather than limitations on the technical solutions of the present invention. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0024] The following description, in conjunction with the accompanying drawings, provides a more detailed explanation of the BeiDou-based automatic flight control method for unmanned aerial vehicles (UAVs) across all flight paths provided by embodiments of the present invention. Figure 1 Specific implementation methods may include: On one hand, a BeiDou-based unmanned aerial vehicle (UAV) all-domain flight automatic control system includes airborne terminal equipment and a ground monitoring platform; the airborne terminal equipment includes: The main control processing unit receives UAV status data sent by the flight control protocol conversion middleware, and uses it to schedule and merge data from various modules, perform communication protocol encapsulation and parsing, and manage task logic. The Beidou RNSS positioning module is used to receive Beidou satellite signals, calculate and output the latitude, longitude, elevation, speed, time and heading angle information of each UAV to the main control processing unit in real time, so as to realize the single-point positioning of each UAV. The Beidou RDSS communication module has a two-way communication link with the Beidou satellite, and has the ability to transmit and receive satellite signals. It is used to send status monitoring messages to the ground monitoring platform and receive control command messages sent by the ground monitoring platform. The flight control protocol conversion middleware provides a standard hardware interface to connect with the UAV's native flight control system. On the one hand, it obtains UAV status data, including attitude angle, battery level, and alarm status, from the UAV's flight control bus and sends it to the main control processing unit. On the other hand, it converts the standardized control commands received from the Beidou link into native commands that the UAV flight control system can recognize, thereby achieving secure isolation and reliable execution of commands. The ground monitoring platform includes: The communication service module is equipped with a ground operation system interface for communicating with the BeiDou RDSS communication module, and completes the sending and receiving of all inbound and outbound messages; The data parsing and storage module parses the status monitoring messages forwarded by the communication service module, extracts the UAV status data, and sends it to the visualization monitoring and intelligent decision-making and control module, completing the relevant information storage. On the other hand, it receives control commands sent by the intelligent decision-making and control module, encapsulates them into control command messages according to standards, sends them to the airborne terminal device Beidou RDSS communication module through the communication service module, and completes the relevant information storage. The visualization monitoring module receives drone status and control command data sent by the data parsing and storage module and the intelligent decision-making and control module. On the electronic map-based interface, it displays the location, trajectory, status parameters and alarm information of all online drones in real time, and provides a human-machine interface for drone control. The intelligent decision control module has a built-in trajectory deviation model and pure tracking control algorithm. Based on the UAV status data sent by the data parsing and storage module, it automatically or manually generates flight control commands and sends them to the data parsing and storage module to complete the control command message encapsulation. The commands are then sent to the target UAV through the communication service module and the Beidou communication link.

[0025] On the other hand, a flight automatic control method based on the aforementioned flight automatic control system includes: The Beidou RNSS positioning module performs passive positioning and obtains UAV status data from the flight control system through the flight control protocol conversion middleware. The main control processing unit performs fusion calibration on the UAV status data. The main control processing unit encapsulates the fused and calibrated UAV status data into a status monitoring message according to a preset binary compression format, and sends it to the BeiDou satellite via the BeiDou RDSS communication module and then to the BeiDou RDSS ground operation system. The ground monitoring center communication service module receives status monitoring messages from the BeiDou RDSS ground operation system and forwards them to the data parsing and storage module. After parsing the status monitoring message sent by the communication service module, the data parsing and storage module generates UAV status data including the UAV's unique ID, spatiotemporal reference, flight attitude and status, and sends it to the visualization monitoring interface. The UAV icon and status are updated in real time on the visualization monitoring interface to achieve full-domain monitoring. The intelligent decision control module calculates the UAV status data sent by the data parsing and storage module using the built-in trajectory deviation model. If it determines that the UAV deviates from the preset route by more than the safety threshold, it generates control commands according to the pure tracking control algorithm and sends them to the data parsing and storage module to be encapsulated into control command messages. These messages are then sent to the target UAV through the communication service module and the Beidou communication link. After the Beidou RDSS communication module of the target UAV's onboard terminal device receives the message, the main control processing unit performs identity authentication and CRC verification. After successful verification, the control command message is transmitted to the flight control protocol conversion middleware, converted into flight control commands, and injected into the flight control system for execution, completing the return, hovering, or heading correction actions.

[0026] In the solution provided in this embodiment of the invention, satellite positioning is performed using the BeiDou RNSS positioning module of the airborne terminal equipment. Flight control status information is then fused, encapsulated into a status monitoring message, and sent to the ground monitoring platform using the BeiDou RDSS communication module. The ground monitoring platform determines the deviation between the preset flight path and the status monitoring message, generates control commands based on the pure tracking control algorithm, and encapsulates them into control command messages, sending them to the airborne terminal equipment via the BeiDou communication link for execution. The main steps include: (1) Data acquisition: The Beidou RNSS positioning module performs passive positioning and obtains status information such as attitude and power from the flight control system through the flight control protocol conversion middleware. The main control processing unit integrates and calibrates the multi-dimensional information set such as the UAV position.

[0027] (2) Data encapsulation and transmission: The main control processing unit encapsulates the above information into a "status monitoring message" according to the preset binary compression format and sends it to the Beidou satellite through the Beidou RDSS communication module.

[0028] (3) Data processing and presentation: The satellite forwards the data to the ground monitoring platform of this system. After the platform parses the message, it updates the UAV icon and status in real time on the visual monitoring interface to achieve full-domain monitoring.

[0029] (4) Deviation judgment: The ground monitoring platform calculates the deviation based on the received real-time position of the UAV using the built-in trajectory deviation model. If the UAV is judged to have deviated from the preset route by more than the safety threshold, the control process is triggered.

[0030] (5) Instruction generation and encapsulation: The system generates specific control instructions based on the pure tracking control algorithm and encapsulates them into "control instruction messages".

[0031] (6) Command transmission and execution: The message is sent to the target UAV through the Beidou communication link. After the Beidou RDSS communication module of the airborne terminal equipment receives the message, the main control processing unit performs identity authentication and CRC verification. After successful verification, the command is transmitted to the flight control protocol conversion middleware, converted into flight control commands and injected into the flight control system for execution, completing actions such as return to home, hovering or heading correction, forming a complete control closed loop.

[0032] In step (2), the total length of the status monitoring message is approximately 37 bytes, including: Frame header, protocol version, and drone's unique ID.

[0033] High-precision spatiotemporal reference: UTC timestamp, double-precision latitude and longitude, floating-point elevation and velocity.

[0034] Flight attitude and status: heading angle, pitch / roll angle, battery level.

[0035] Flight status word: A single byte of bits defines various states of the drone, such as normal / alarm, manual / automatic mode, GPS positioning / predictive positioning, etc.

[0036] Data quality indicator: Used to identify the reliability level of the current location data.

[0037] CRC16 checksum: ensures the integrity of data transmission.

[0038] In step (4), the trajectory deviation model achieves a three-dimensional decoupled evaluation of the UAV's position. First, the real-time three-dimensional position coordinates of the UAV are spatially projected onto the current tracking segment to obtain the corresponding projection point position and the projection ratio parameter representing the relative position of the projection point on the segment. Based on the above projection results, the deviation in the three dimensions is calculated respectively: Lateral deviation: obtained by calculating the straight-line distance between the real-time position of the UAV and its projection point on the horizontal plane, and used to characterize the tracking accuracy of the UAV in the planar heading direction.

[0039] Longitudinal deviation: obtained by calculating the path distance between the projection point and the starting point of the current flight segment, used to characterize the flight progress of the UAV.

[0040] Elevation deviation: obtained by calculating the height difference between the real-time position of the UAV and its projection point, used to characterize the tracking accuracy of the UAV in the vertical profile direction.

[0041] The ground monitoring platform accurately senses the spatial deviation of the UAV by comparing the deviation of the above three dimensions with their respective preset safety thresholds, providing a precise quantitative basis for decision-making in generating subsequent control commands, thereby achieving refined flight control across the entire domain.

[0042] In step (5), the command generation is based on a three-dimensional pure tracking control algorithm. Its core lies in abstracting the UAV into a spatial point mass and performing forward-looking control, specifically including: The ground monitoring platform dynamically calculates the required aiming distance based on the drone's current ground speed and the preset aiming gain coefficient. This aiming distance is directly proportional to the ground speed.

[0043] On the preset three-dimensional flight path, starting from the projection point of the UAV's current position, the UAV moves forward along the flight path and advances a pre-aiming distance to determine a pre-aiming point in three-dimensional space.

[0044] By calculating the spatial vector from the current position of the UAV to the target point, control quantities in the horizontal and vertical directions are generated respectively.

[0045] Horizontal control input: By calculating the azimuth angle of the spatial vector on the horizontal plane, the desired yaw angle command is obtained, which is used to guide the UAV to perform horizontal turning control.

[0046] Vertical control variable: The desired climb angle is obtained by calculating the angle between the vertical component of the spatial vector and its horizontal modulus. Then, the desired climb rate command is derived by combining the UAV airspeed, which is used to guide the UAV to perform vertical maneuver control.

[0047] This control model achieves smooth, adaptive, and stable tracking control of a preset flight path in three-dimensional space by having the UAV continuously track the dynamically changing pre-aiming point in front of it.

[0048] In step (5), the total length of the control command message is approximately 24 bytes, including: Frame header, protocol version, target drone ID.

[0049] Command sequence number: used for command response and anti-duplicate processing.

[0050] Control command codes: predefined enumerated values, such as 0x01 = return to home, 0x02 = hover, etc.

[0051] Command parameters: For the "heading correction" command, this field is used for the specific command parameters.

[0052] Authorization code: Used for security authentication to prevent malicious control.

[0053] The airborne terminal equipment described in this method includes: Main control processing unit: As the core of the airborne terminal equipment, it is responsible for scheduling and integrating data from various modules, executing communication protocol encapsulation and parsing, and managing task logic.

[0054] Beidou RNSS positioning module: used to receive Beidou satellite signals to achieve precise single-point positioning of UAVs, and to calculate and output its latitude, longitude, elevation, speed, time and heading angle information in real time.

[0055] Beidou RDSS communication module: responsible for establishing a two-way communication link with Beidou satellites, with the ability to transmit and receive satellite signals, used to send status monitoring messages and receive control command messages.

[0056] Flight control protocol conversion middleware: Protocol adaptation and security isolation module, providing a standard hardware interface to connect with the UAV's native flight control system, with dual functions: First, it obtains internal data such as attitude angle, battery level, and alarm status from the flight control bus; second, it securely converts and injects standardized control commands from the Beidou link into native commands that the flight control system can recognize, achieving secure isolation and reliable execution of commands.

[0057] The ground monitoring platform described in this method includes: Communication services: Interfaces with the BeiDou RDSS ground operation system to complete the sending and receiving of all inbound and outbound messages.

[0058] Data parsing and storage: Parse custom-formatted BeiDou messages, extract UAV status information, and store it in the database.

[0059] Visual monitoring: The location, trajectory, status parameters and alarm information of all online drones are displayed in real time on an electronic map-based interface.

[0060] Intelligent decision control: It has a built-in trajectory deviation model and pure tracking control algorithm, which can automatically or manually generate flight control commands.

[0061] To provide a clearer understanding of the technical features, objectives, and effects of this application, specific embodiments are now described with reference to the accompanying drawings, such as... Figure 1 As shown.

[0062] (1) Data acquisition: The Beidou RNSS positioning module performs passive positioning and obtains status information such as attitude and power from the flight control system through the flight control protocol conversion middleware. The main control processing unit integrates and calibrates the multi-dimensional information set such as the UAV position.

[0063] (2) Data Encapsulation and Transmission: The main control processing unit encapsulates the above information into a "status monitoring message" according to a preset binary compression format and sends it to the BeiDou satellite through the BeiDou RDSS communication module. The status monitoring message format is shown in the table below:

[0064] (3) Data processing and presentation: The satellite forwards the data to the ground monitoring platform of this system. After the platform parses the message, it updates the UAV icon and status in real time on the visual monitoring interface to achieve full-domain monitoring.

[0065] (4) Deviation Judgment: The ground monitoring platform calculates the deviation based on the received real-time position of the UAV using its built-in trajectory deviation model. The steps are defined as follows: (4001) Model definition: The preset route consists of a series of ordered waypoints. Composition, current drone location is .calculate To all line segments Distance: Select the line segment with the shortest distance as the current tracking segment. arrive Calculate the lateral deviation, longitudinal deviation, and elevation deviation.

[0066] (4002) Position the UAV Projected onto the 3D flight path of the tracking segment Up, get , route vector Vector from UAV to the starting point of the flight path Calculate the projection point Progress parameters on the route (indicating from) arrive (progress), then .

[0067] (4003) Calculation The three-dimensional coordinates .

[0068] (4004) Based on projection points Calculate the three types of deviations.

[0069] Lateral deviation: UAV position To the projection point The horizontal distance. This reflects the degree to which the drone deviates from its flight path in the east-west / north-south plane.

[0070] Lateral deviation = .

[0071] Longitudinal deviation: Projection point To the origin of the flight route The path distance. This reflects how far the drone flew along the flight path. Longitudinal deviation = .

[0072] Elevation deviation: UAV position With projection point The elevation difference. This reflects the degree to which the drone deviates vertically from the predetermined climb / descent profile. Elevation deviation = .

[0073] (4005) After obtaining the deviations in the three dimensions, the ground monitoring platform can compare them with the pre-set flight path deviation thresholds. If it is determined that the UAV deviates beyond the safety threshold, the control process is triggered.

[0074] (5) Instruction Generation and Encapsulation: The system generates specific control instructions based on the pure tracking control algorithm. The steps are defined as follows: (5001) Model definition: The model treats the UAV as a point mass moving in three-dimensional space. Along the target flight path, it continuously seeks a "pre-aiming point" located a certain distance ahead of the UAV, then controls the UAV to turn and fly towards that point. This is achieved by continuously chasing this moving pre-aiming point. The drone can eventually converge smoothly and stably to the target flight path.

[0075] According to the status monitoring report, the current ground speed of the drone is... The aiming gain coefficient is manually set according to the needs of the scenario. Dynamically calculate the aiming distance .

[0076] (5002) Calculate the unit vector of the route vector. .

[0077] (5003) From the projection point Begin, along directional movement The distance is used to calculate the pre-aiming point. .

[0078] (5004) Determine whether the aiming point exceeds the end of the flight path. .if Then the aiming point should be set to .

[0079] (5005) Calculate the "pre-aiming vector": the vector from the UAV to the pre-aiming point. = .

[0080] (5006) Projection of the aiming vector onto the horizontal plane Calculate the azimuth of the projection (depending on the coordinate system; here we assume the calculation is based on the angle with the east axis (X-axis)). .

[0081] (5007) Calculate the height difference between the UAV and the pre-aiming point, and combine it with the horizontal distance to calculate the desired climb angle. According to the current airspeed Calculate the expected rate of climb .

[0082] (5008) The ground monitoring platform encapsulates the parameters into "control command messages", the format of which is shown in the table below:

[0083] (5009) The system may also not directly issue the given azimuth and climb rate, but instead issue the three-dimensional coordinates of the aiming point, and the main control processing unit of the airborne terminal equipment executes the same pure tracking control algorithm to achieve faster closed-loop control.

[0084] (6) Command transmission and execution: The message is sent to the target UAV through the Beidou communication link. After the Beidou RDSS communication module of the airborne terminal equipment receives the message, the main control processing unit performs identity authentication and CRC verification. After successful verification, the command is transmitted to the flight control protocol conversion middleware, converted into flight control commands and injected into the flight control system for execution, completing actions such as return to home, hovering or heading correction, forming a complete control closed loop.

[0085] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0086] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A BeiDou-based automatic flight control system for unmanned aerial vehicles (UAVs) across all flight paths, characterized in that, It includes airborne terminal equipment and a ground monitoring platform; the airborne terminal equipment includes: The main control processing unit receives UAV status data sent by the flight control protocol conversion middleware, and uses it to schedule and merge data from various modules, perform communication protocol encapsulation and parsing, and manage task logic. The Beidou RNSS positioning module is used to receive Beidou satellite signals, calculate and output the latitude, longitude, elevation, speed, time and heading angle information of each UAV to the main control processing unit in real time, so as to realize the single-point positioning of each UAV. The Beidou RDSS communication module has a two-way communication link with the Beidou satellite, and has the ability to transmit and receive satellite signals. It is used to send status monitoring messages to the ground monitoring platform and receive control command messages sent by the ground monitoring platform. The flight control protocol conversion middleware provides a standard hardware interface to connect with the UAV's native flight control system. On the one hand, it obtains UAV status data, including attitude angle, battery level, and alarm status, from the UAV's flight control bus and sends it to the main control processing unit. On the other hand, it converts the standardized control commands received from the Beidou link into native commands that the UAV flight control system can recognize, thereby achieving secure isolation and reliable execution of commands. The ground monitoring platform includes: The communication service module is equipped with a ground operation system interface for communicating with the BeiDou RDSS communication module, and completes the sending and receiving of all inbound and outbound messages; The data parsing and storage module parses the status monitoring messages forwarded by the communication service module, extracts the UAV status data, and sends it to the visualization monitoring and intelligent decision-making and control module, completing the relevant information storage. On the other hand, it receives control commands sent by the intelligent decision-making and control module, encapsulates them into control command messages according to standards, sends them to the airborne terminal device Beidou RDSS communication module through the communication service module, and completes the relevant information storage. The visualization monitoring module receives drone status and control command data sent by the data parsing and storage module and the intelligent decision-making and control module. On the electronic map-based interface, it displays the location, trajectory, status parameters and alarm information of all online drones in real time, and provides a human-machine interface for drone control. The intelligent decision control module has a built-in trajectory deviation model and pure tracking control algorithm. Based on the UAV status data sent by the data parsing and storage module, it automatically or manually generates flight control commands and sends them to the data parsing and storage module to complete the control command message encapsulation. The commands are then sent to the target UAV through the communication service module and the Beidou communication link.

2. The automatic flight control system for all-domain flight paths of unmanned aerial vehicles based on BeiDou as described in claim 1, characterized in that, The total length of the status monitoring message is approximately 37 bytes, including: Frame header, protocol version, and unique drone ID; Spatiotemporal references: UTC timestamp, double-precision latitude and longitude, floating-point elevation and velocity; Flight attitude and status: heading angle, pitch / roll angle, battery level; Flight status word: A single byte of bits defines various states of the drone, including normal / alarm, manual / automatic mode, GPS positioning / predictive positioning; Data quality indicator: Used to identify the reliability level of the current location data; CRC16 checksum.

3. The BeiDou-based unmanned aerial vehicle (UAV) all-domain flight automatic control system according to claim 1, characterized in that, The trajectory deviation model achieves a three-dimensional decoupled evaluation of the UAV's position: First, the UAV's real-time three-dimensional position coordinates are spatially projected onto the current tracking segment to obtain the corresponding projection point position and the projection ratio parameter representing the relative position of the projection point on the segment. Based on the above projection results, the deviation in the three dimensions is calculated respectively: Lateral deviation: obtained by calculating the straight-line distance between the real-time position of the UAV and its projection point on the horizontal plane, used to characterize the tracking accuracy of the UAV in the planar heading direction; Longitudinal deviation: obtained by calculating the path distance between the projection point and the starting point of the current flight segment, used to characterize the flight progress of the UAV; Elevation deviation: obtained by calculating the height difference between the real-time position of the UAV and its projection point, used to characterize the tracking accuracy of the UAV in the vertical profile direction; The ground monitoring platform compares the deviations in the above three dimensions with their respective preset safety thresholds to perceive the spatial deviation of the UAV, providing a precise quantitative basis for subsequent control command generation, thereby achieving flight control across the entire domain.

4. The BeiDou-based unmanned aerial vehicle (UAV) all-domain flight automatic control system according to claim 1, characterized in that, The pure tracking control algorithm is used to abstract the UAV as a spatial point mass and perform forward control, including: The ground monitoring platform dynamically calculates the required aiming distance based on the drone's current ground speed and the preset aiming gain coefficient. This aiming distance is directly proportional to the ground speed. On the preset three-dimensional flight path, starting from the projection point of the UAV's current position, advance the aiming distance along the flight path to determine a aiming point in three-dimensional space; By solving the spatial vector from the current position of the UAV to the target point, control quantities in the horizontal and vertical directions are generated respectively. Horizontal control input: By calculating the azimuth angle of the spatial vector on the horizontal plane, the desired yaw angle command is obtained, which is used to guide the UAV to perform horizontal turning control. Vertical control variable: The desired climb angle is obtained by calculating the angle between the vertical component of the spatial vector and its horizontal modulus. Then, the desired climb rate command is derived by combining the UAV airspeed, which is used to guide the UAV to perform vertical maneuver control.

5. The BeiDou-based unmanned aerial vehicle (UAV) all-domain flight automatic control system according to claim 1, characterized in that, The total length of the control command message is 24 bytes, including: Frame header, protocol version, target drone ID; Command serial number: used for command response and anti-duplicate processing; Control command code: a predefined enumeration value; Command parameters; Authorization code: Used for security authentication to prevent malicious control.

6. A method for automatic flight control of unmanned aerial vehicles (UAVs) across all flight paths, based on the BeiDou-based automatic flight control system for UAVs as described in claim 1, characterized in that... include: The Beidou RNSS positioning module performs passive positioning and obtains UAV status data from the flight control system through the flight control protocol conversion middleware. The main control processing unit performs fusion calibration on the UAV status data. The main control processing unit encapsulates the fused and calibrated UAV status data into a status monitoring message according to a preset binary compression format, and sends it to the BeiDou satellite via the BeiDou RDSS communication module and then to the BeiDou RDSS ground operation system. The ground monitoring center communication service module receives status monitoring messages from the BeiDou RDSS ground operation system and forwards them to the data parsing and storage module. After parsing the status monitoring message sent by the communication service module, the data parsing and storage module generates UAV status data including the UAV's unique ID, spatiotemporal reference, flight attitude and status, and sends it to the visualization monitoring interface. The UAV icon and status are updated in real time on the visualization monitoring interface to achieve full-domain monitoring. The intelligent decision control module calculates the UAV status data sent by the data parsing and storage module using the built-in trajectory deviation model. If it determines that the UAV deviates from the preset route by more than the safety threshold, it generates control commands according to the pure tracking control algorithm and sends them to the data parsing and storage module to be encapsulated into control command messages. These messages are then sent to the target UAV through the communication service module and the Beidou communication link. After the Beidou RDSS communication module of the target UAV's onboard terminal device receives the message, the main control processing unit performs identity authentication and CRC verification. After successful verification, the control command message is transmitted to the flight control protocol conversion middleware, converted into flight control commands, and injected into the flight control system for execution, completing the return, hovering, or heading correction actions.

7. The automatic flight control method for all-domain flight paths of an unmanned aerial vehicle based on BeiDou as described in claim 6, characterized in that, The trajectory deviation model achieves a three-dimensional decoupled evaluation of the UAV's position: First, the UAV's real-time three-dimensional position coordinates are spatially projected onto the current tracking segment to obtain the corresponding projection point position and the projection ratio parameter representing the relative position of the projection point on the segment. Based on the above projection results, the deviation in the three dimensions is calculated respectively: Lateral deviation: obtained by calculating the straight-line distance between the real-time position of the UAV and its projection point on the horizontal plane, used to characterize the tracking accuracy of the UAV in the planar heading direction; Longitudinal deviation: obtained by calculating the path distance between the projection point and the starting point of the current flight segment, used to characterize the flight progress of the UAV; Elevation deviation: obtained by calculating the height difference between the real-time position of the UAV and its projection point, used to characterize the tracking accuracy of the UAV in the vertical profile direction; The ground monitoring platform compares the deviations of the above three dimensions with their respective preset safety thresholds to perceive the spatial deviation of the UAV, providing a precise quantitative basis for decision-making in generating subsequent control commands, thereby achieving flight control across the entire domain. The pure tracking control algorithm is used to abstract the UAV as a spatial point mass and perform forward control, including: The ground monitoring platform dynamically calculates the required aiming distance based on the drone's current ground speed and the preset aiming gain coefficient. This aiming distance is directly proportional to the ground speed. On the preset three-dimensional flight path, starting from the projection point of the UAV's current position, advance the aiming distance along the flight path to determine a aiming point in three-dimensional space; By solving the spatial vector from the current position of the UAV to the target point, control quantities in the horizontal and vertical directions are generated respectively. Horizontal control input: By calculating the azimuth angle of the spatial vector on the horizontal plane, the desired yaw angle command is obtained, which is used to guide the UAV to perform horizontal turning control. Vertical control variable: The desired climb angle is obtained by calculating the angle between the vertical component of the spatial vector and its horizontal modulus. Then, the desired climb rate command is derived by combining the UAV airspeed, which is used to guide the UAV to perform vertical maneuver control.

8. The automatic flight control method for all-domain flight paths of an unmanned aerial vehicle based on BeiDou as described in claim 6, characterized in that, The total length of the status monitoring message is approximately 37 bytes, including: Frame header, protocol version, and unique drone ID; Spatiotemporal references: UTC timestamp, double-precision latitude and longitude, floating-point elevation and velocity; Flight attitude and status: heading angle, pitch / roll angle, battery level; Flight status word: A single byte of bits defines various states of the drone, including normal / alarm, manual / automatic mode, GPS positioning / predictive positioning; Data quality indicator: Used to identify the reliability level of the current location data; CRC16 checksum; The total length of the control command message is 24 bytes, including: Frame header, protocol version, target drone ID; Command serial number: used for command response and anti-duplicate processing; Control command code: a predefined enumeration value; Command parameters; Authorization code: Used for security authentication to prevent malicious control.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 6 to 8.

10. A BeiDou-based unmanned aerial vehicle (UAV) all-domain flight automatic control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, it implements the steps of the method as described in any one of claims 6 to 8.

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