Dynamic control right handover method and system in cooperative training of manned aerial vehicle and unmanned aerial vehicle
By adopting a multi-handshake protocol and a priority preemption mechanism in the manned and unmanned collaborative training system, the problems of platform isolation and single control mode are solved, and the reliable, flexible and secure transfer of control is achieved, thereby improving the realism and safety of the simulation training.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- BEIJING AEROSPACE YILIAN TECH DEV
- Filing Date
- 2025-12-15
- Publication Date
- 2026-04-21
AI Technical Summary
Existing simulators suffer from problems such as platform isolation, single control mode, poor process reliability, and lack of security in manned and unmanned collaborative training. They cannot realistically simulate modern air combat modes, and are prone to control handover failure or conflict in environments with communication delays or packet loss.
Employing a multi-handshake protocol and a priority preemption mechanism, the system achieves a reliable, flexible, and secure transfer of control in a local area network environment via UDP communication connections. This includes control request, judgment and processing, and interactive confirmation feedback. Furthermore, it achieves seamless transfer of control channels by dynamically switching communication addresses.
It improves the practicality and flexibility of training, enhances the reliability and security of control transfer, and avoids authority conflicts and security incidents in emergency situations.
Smart Images
Figure CN121900494A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of aircraft control and simulation training technology, and in particular relates to a method and system for dynamic control handover in manned and unmanned aerial vehicle collaborative training. Background Technology
[0002] Currently, existing simulators for manned and unmanned aerial vehicle (UAV) collaborative training scenarios suffer from four main limitations: platform isolation, a single control mode, poor process reliability, and insufficient security. Specifically, platform isolation manifests in the fact that most systems adopt independent architectures, supporting only training tasks on a single platform (manned or unmanned), lacking cross-platform collaborative interaction capabilities, thus failing to realistically simulate modern air combat scenarios where manned aircraft command UAV swarms. The single control mode problem is characterized by simplistic and crude authority transfer mechanisms, typically employing a binary "master / slave" switch pattern. This fails to reflect the flexibility of dynamically adjusting control authority based on mission phases and battlefield situations in real combat, and also fails to train pilots' adaptability during authority switching. Insufficient process reliability is prominently reflected in the lack of a rigorous handshake protocol in the control transfer process, employing a one-way command transmission method. Under unreliable environments such as simulated communication delays and packet loss, this is highly susceptible to command loss leading to transfer failures or control conflicts. The safety design flaws are reflected in the fact that the system has not established a priority preemption mechanism. When there are emergency situations such as communication interruption between the ground station and the manned aircraft or pilot incapacitation, the lack of safety redundancy design for mandatory takeover control may directly lead to mission failure or even cause safety accidents. Summary of the Invention
[0003] In view of this, the purpose of this invention is to propose a dynamic control handover method and system in manned-unmanned collaborative training. By designing a multi-handshake protocol and a priority preemption mechanism, a reliable, flexible and secure handover of control between the manned aircraft and the ground station can be achieved, thereby at least partially solving the problems in related technologies.
[0004] To achieve the above objectives, the first aspect of this disclosure provides a method for dynamic control handover in manned-unmanned aerial vehicle (UAV) collaborative training, comprising the following steps:
[0005] Establish a UDP communication connection between the manned aircraft simulation terminal, the unmanned aircraft simulation unit, and the unmanned aircraft ground station in a local area network environment;
[0006] Based on the specific needs of the training scenario, select the appropriate control process from three preset control handover modes;
[0007] The corresponding instruction interaction process is executed based on the selected mode. The instruction interaction process includes sending the control right request instruction, judgment and processing based on preset decision rules, and interactive confirmation feedback.
[0008] By dynamically switching the control channel by changing the communication address, a secure handover of control can be achieved between the manned aircraft simulator terminal and the UAV ground station.
[0009] Furthermore, the three preset control handover modes include a manned aircraft request control mode, an unmanned aerial vehicle ground station request control mode, and a ground station forced takeover mode.
[0010] Furthermore, the manned aircraft application control mode specifically includes the following sub-steps:
[0011] The manned aircraft operator sends a control request command to the unmanned aircraft ground station;
[0012] The UAV ground station makes judgments based on preset decision rules that consider the current mission stage, UAV status, and priority weights.
[0013] Send instructions to manned aircraft to grant or deny the request;
[0014] After receiving the consent request instruction, the manned aircraft will send back a confirmation instruction.
[0015] The UAV ground station switches control channels by changing the communication address.
[0016] Furthermore, the application for control mode by the UAV ground station specifically includes the following sub-steps:
[0017] The UAV ground station sends a request to the manned aircraft to hand over control.
[0018] After processing, the operator of the manned aircraft sends an instruction to agree to return the aircraft or refuse to return it.
[0019] After receiving the handover consent instruction, the UAV ground station sends a control confirmation and acquisition instruction.
[0020] Control is regained by switching control channels and changing the communication address.
[0021] Furthermore, the ground station forced takeover mode is triggered when the following conditions are met: communication link timeout, manned pilot incapacity signal triggering, or UAV entering a preset no-fly zone or in an abnormal state.
[0022] Furthermore, the ground station forced preemption mode also includes the following sub-steps:
[0023] The UAV ground station monitors the system status and determines whether the conditions for preemption are met.
[0024] When the conditions for seizing control are met, the UAV ground station directly sends a seizing control command to the manned aircraft.
[0025] The control channel can be forcibly switched by changing the communication address, without the need for human or machine confirmation.
[0026] Furthermore, the method of changing the communication address specifically involves changing the target address and port number in the UDP communication protocol through the data forwarding module of the link monitoring simulation software, thereby switching the control channel.
[0027] Furthermore, the decision rules in the instruction interaction step are based on at least one of the following factors: current task stage, UAV working status, and operator priority weight.
[0028] A second aspect of this disclosure also provides a dynamic control transfer system, the system comprising:
[0029] Manned machine simulation terminal is used to simulate the state and behavior of manned machines, and generate and send control-related instructions;
[0030] A drone simulation unit is used to simulate the state and behavior of drones;
[0031] The UAV ground station includes a data forwarding module with link monitoring and simulation software.
[0032] The system operates in a local area network environment and communicates via the UDP protocol.
[0033] Furthermore, the UAV ground station also includes a decision processing module, a communication management module, and a channel switching module;
[0034] The decision processing module is used to make control handover decisions based on preset rules; the communication management module is used to manage UDP protocol communication links; and the channel switching module is used to dynamically switch control channels by changing the communication address.
[0035] Through the above technical solution, this method optimizes the control handover process. First, establishing a UDP communication connection in a local area network environment provides a stable and low-latency communication foundation for the system, ensuring the real-time performance and reliability of command transmission—a prerequisite for the entire method. Second, based on training scenario requirements, the execution process is selected from three preset modes (such as manned aircraft request, ground station request, or forced preemption), enabling the system to dynamically adapt to different combat scenarios, such as normal training, emergency intervention, or fault recovery, enhancing the practicality and flexibility of training. Next, the command interaction process, through a closed-loop design of request sending, decision-making, and confirmation feedback, forms a multi-handshake protocol, ensuring the clarity of the handover intention and two-way verification, effectively reducing the risk of misoperation due to communication packet loss or delay, and improving the reliability of the process. Finally, by dynamically changing the communication address to switch control channels, a seamless and secure transfer of control is achieved, avoiding permission conflicts or vacuums. Combined with a priority preemption mechanism, the inherent security of the system is guaranteed in emergency situations (such as communication interruption). These features are interconnected: the communication infrastructure supports the smoothness of the interaction process, the mode selection optimizes the adaptability of the interaction strategy, the interaction verification ensures the accuracy of the switching action, and the channel switching ultimately achieves a secure handover. Overall, they synergistically improve the reliability, flexibility, and security of the system, overcoming the shortcomings of isolation, singularity, and unreliability in existing technologies. Attached Figure Description
[0036] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:
[0037] Figure 1 This is a schematic diagram of the framework of the manned machine application control mode provided in the exemplary embodiments of this disclosure;
[0038] Figure 2 This is a schematic diagram of the framework of the UAV ground station application control mode provided in the exemplary embodiments of this disclosure;
[0039] Figure 3 This is a schematic diagram of the framework of the ground station forced takeover mode provided in the exemplary embodiments of this disclosure. Detailed Implementation
[0040] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.
[0041] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.
[0042] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.
[0043] The invention will now be described in detail with reference to the accompanying drawings and embodiments.
[0044] Example 1
[0045] This embodiment details a method for dynamic control handover in manned-unmanned aerial vehicle (UAV) collaborative training. For example... Figures 1 to 3 As shown, this method operates in a local area network simulation system consisting of a manned aircraft simulation terminal, an unmanned aerial vehicle (UAV) simulation unit, and an UAV ground station. The system communicates via the UDP protocol to ensure low latency and high real-time performance in command transmission.
[0046] The overall process of the method includes the following core steps:
[0047] 1. System Initialization and Communication Establishment: Before training begins, all units are initialized in a local area network environment. Stable UDP communication connections are established between the manned aircraft simulation terminal, the unmanned aircraft simulation unit, and the unmanned aircraft ground station. The IP addresses and port numbers of each unit are pre-configured in the system's communication management module, laying the foundation for subsequent dynamic address switching.
[0048] 2. Training Scenario Recognition and Mode Selection: Based on the current training mission objective (such as ground reconnaissance, formation patrol, or handling of sudden threats), the system allows the commander or the system to automatically select one of three preset control handover modes. These three modes are: Manned Aircraft Request Control Mode (suitable for scenarios where the manned aircraft operator needs to actively take over the UAV for precise operation), UAV Ground Station Request Control Mode (suitable for scenarios where the ground station operator needs to regain control for mission replanning or data analysis), and Ground Station Forced Takeover Mode (specifically used for handling emergency scenarios such as communication failures or personnel incapacitation).
[0049] 3. Command Interaction and Decision-Making: Based on the selected mode, the system initiates the corresponding command interaction process. This process is a rigorous "handshake" protocol, the core of which lies in sending the control request command, judging and processing based on preset decision rules, and interactive confirmation feedback. The decision rules are executed by the decision processing module within the UAV ground station, which comprehensively considers factors such as the current mission stage, the UAV's operating status (e.g., fuel, payload, flight stability), and the operator's priority weight, to make an intelligent judgment of approval or rejection.
[0050] 4. Dynamic Control Channel Switching: After command interaction confirmation, the system switches the control channel by changing the target address and port number in the UDP communication protocol. This operation is performed by the channel switching module in the UAV ground station. Specifically, this module modifies the data forwarding rules of the link monitoring simulation software, redirecting the UAV status data stream and control command stream originally sent to the current controller to the new controller. This method achieves a seamless and secure transfer of control, avoiding control conflicts or privilege gaps.
[0051] Example 2
[0052] In some implementations, the specific sub-steps for the manned machine request control mode are as follows:
[0053] During collaborative training, the operator on the manned aircraft simulator initiates a control request command through the operating interface according to tactical needs. This command is sent to the UAV ground station via the UDP protocol.
[0054] The communication management module of the UAV ground station receives the instruction and forwards it to the decision processing module. The decision processing module immediately starts the decision rule engine to query the current mission stage (e.g., whether it is in the "cruising" stage that allows the transfer of control rather than the "take-off and landing" stage), the UAV status (e.g., whether the flight is stable and whether there are any fault alarms), and the priority of the requesting operator (e.g., the lead pilot may have a higher priority than the wingman pilot).
[0055] The decision processing module generates an "approval" or "rejection" instruction based on the rule calculation results, and sends it back to the manned machine simulation terminal through the communication management module.
[0056] If a human operator receives a "Confirm Request" instruction, they must respond with a "Confirm Acquisition" instruction via the operating interface within a specified time (e.g., within 2 seconds). This step is a double safeguard to prevent changes in the operator's status (such as loss of operational capability) after the instruction is issued but before the channel switch.
[0057] Upon receiving the "Confirm Acquisition" command, the UAV ground station's channel switching module immediately activates, modifying the configuration of the data forwarding module to change the target address of the control command from the ground station's own address to the address of the manned aircraft simulator terminal. From this point on, the manned aircraft simulator terminal officially gains control of the UAV.
[0058] Example 3
[0059] In some implementations, the specific sub-steps for the UAV ground station to request control mode are as follows:
[0060] The operator of the UAV ground station decides to reclaim control due to mission planning, system maintenance, or perceived potential risks. The ground station sends a "control relinquishment request" to the current controller—the manned aircraft simulator terminal—via the UDP protocol.
[0061] After receiving the request, the manned aircraft simulation terminal displays a prompt. The manned aircraft operator assesses the current battlefield situation, selects "agree to return" or "reject return," and sends the instruction back to the UAV ground station.
[0062] If the UAV ground station receives the "agree to return" instruction, it sends a "confirmation of control acquisition" instruction to the manned aircraft, informing the other party that control is about to be reclaimed.
[0063] Subsequently, the channel switching module of the UAV ground station performed a switching operation, changing the target address of the control command stream from the manned aircraft simulation terminal to the ground station's own address, thereby safely regaining control of the UAV.
[0064] Example 4
[0065] In some implementations, the triggering conditions for the ground station forced preemption mode include:
[0066] Communication link timeout: The UAV ground station continuously monitors the heartbeat signal of the manned aircraft simulation terminal. If no heartbeat is received for more than a preset time (e.g., 5 seconds), it is determined that the communication is interrupted.
[0067] Manned aircraft pilot incapacity signal triggering: The manned aircraft simulator terminal can be connected to biosensors or equipped with an emergency button. Once a pilot incapacity is detected, it will actively send an incapacity signal to the ground station.
[0068] When a drone enters a pre-set no-fly zone or experiences an abnormal state: If the drone's navigation system detects that it is about to enter a no-fly zone, or if the flight control system detects that it has experienced a serious malfunction, it will send an alarm to the ground station.
[0069] The specific sub-steps of the ground station forced preemption mode are as follows:
[0070] The decision processing module of the UAV ground station continuously monitors the system status and compares it in real time with the aforementioned preemption conditions.
[0071] Once any of the preemption conditions is met, the decision processing module immediately generates a "preemption command". The ground station will send this command to the manned aircraft simulation terminal through the remaining communication link or as a system broadcast, but this step is only for notification and does not wait for confirmation.
[0072] Simultaneously, the channel switching module forcibly switches the control channel, returning control to the ground station. This process is unilaterally initiated, ensuring instantaneous takeover in emergencies and preventing accidents.
[0073] Example 5
[0074] This embodiment provides a dynamic control handover system for implementing the above method. The system operates in a local area network environment and mainly includes the following components:
[0075] Manned aircraft simulator terminal: This terminal is typically a high-performance flight simulator cockpit or a simplified control console, used to simulate the flight status, system behavior, and pilot operations of manned aircraft with high fidelity. It has a built-in command generation unit that can generate and send various control request, confirmation, or feedback commands based on operator input.
[0076] Unmanned Aerial Vehicle (UAV) Simulation Unit: This unit is responsible for simulating the dynamic model, flight control system, sensor payload, etc. of the UAV, calculating the flight status in real time, and responding to commands from the current effective controller.
[0077] Unmanned Aerial Vehicle (UAV) Ground Station: This is the control center of the system and contains at least the following modules:
[0078] Communication Management Module: Responsible for maintaining the establishment, maintenance, and destruction of all UDP communication links, and handling data encapsulation and parsing.
[0079] Decision processing module: With a built-in preset decision rule library, it is the "brain" of the control transfer, responsible for intelligently adjudicating applications and determining whether the conditions for forced preemption are triggered.
[0080] Channel switching module: As the executor of instructions, it dynamically modifies the target IP address and port number in the data forwarding rules by calling the API of the link monitoring simulation software, so as to achieve fast and accurate switching of control channels.
[0081] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
Claims
1. A method for dynamic control handover in manned-unmanned aerial vehicle (UAV) collaborative training, characterized in that, Includes the following steps: Establish a UDP communication connection between the manned aircraft simulation terminal, the unmanned aircraft simulation unit, and the unmanned aircraft ground station in a local area network environment; Based on the specific needs of the training scenario, select the appropriate control process from three preset control handover modes; The corresponding instruction interaction process is executed based on the selected mode. The instruction interaction process includes sending the control right request instruction, judgment and processing based on preset decision rules, and interactive confirmation feedback. By dynamically switching the control channel by changing the communication address, a secure handover of control can be achieved between the manned aircraft simulator terminal and the UAV ground station.
2. The method for dynamic control handover in manned-unmanned aerial vehicle (UAV) collaborative training according to claim 1, characterized in that: The three preset control handover modes include manned aircraft request control mode, unmanned aerial vehicle ground station request control mode, and ground station forced takeover mode.
3. The method for dynamic control handover in manned-unmanned aerial vehicle (UAV) collaborative training according to claim 2, characterized in that, The manned aircraft application control mode specifically includes the following sub-steps: The manned aircraft operator sends a control request command to the unmanned aircraft ground station; The UAV ground station makes judgments based on preset decision rules that consider the current mission stage, UAV status, and priority weights. Send instructions to manned aircraft to grant or deny the request; After receiving the consent request instruction, the manned aircraft will send back a confirmation instruction. The UAV ground station switches control channels by changing the communication address.
4. The method for dynamic control handover in manned-unmanned aerial vehicle (UAV) collaborative training according to claim 2, characterized in that, The application for control mode by the UAV ground station specifically includes the following sub-steps: The UAV ground station sends a request to the manned aircraft to hand over control. After processing, the operator of the manned aircraft sends an instruction to agree to return the aircraft or refuse to return it. After receiving the handover consent instruction, the UAV ground station sends a control confirmation and acquisition instruction. Control is regained by switching control channels and changing the communication address.
5. A method for dynamic control handover in manned-unmanned aerial vehicle (UAV) collaborative training according to claim 2, characterized in that, The ground station forced takeover mode is triggered when the following conditions are met: communication link timeout, manned aircraft pilot incapacitation signal trigger, or UAV enters a preset no-fly zone or is in an abnormal state.
6. The method for dynamic control handover in manned-unmanned aerial vehicle (UAV) collaborative training according to claim 5, characterized in that, The ground station forced takeover mode also includes the following sub-steps: The UAV ground station monitors the system status and determines whether the conditions for preemption are met. When the conditions for seizing control are met, the UAV ground station directly sends a seizing control command to the manned aircraft. The control channel can be forcibly switched by changing the communication address, without the need for human or machine confirmation.
7. The method for dynamic control handover in manned-unmanned aerial vehicle (UAV) collaborative training according to claim 1, characterized in that, The method of changing the communication address is as follows: the target address and port number in the UDP communication protocol are changed through the data forwarding module of the link monitoring simulation software to achieve the switching of the control channel.
8. The method for dynamic control handover in manned-unmanned aerial vehicle (UAV) collaborative training according to claim 1, characterized in that, The decision rules in the instruction interaction steps are based on at least one of the following factors: current task stage, UAV operating status, and operator priority weight.
9. A dynamic control handover system for implementing the method of any one of claims 1-8, characterized in that, include: Manned machine simulation terminal is used to simulate the state and behavior of manned machines, and generate and send control-related instructions; A drone simulation unit is used to simulate the state and behavior of drones; The UAV ground station includes a data forwarding module with link monitoring and simulation software. The system operates in a local area network environment and communicates via the UDP protocol.
10. A dynamic control handover system according to claim 9, characterized in that: The UAV ground station also includes a decision processing module, a communication management module, and a channel switching module; The decision processing module is used to make control handover decisions based on preset rules; the communication management module is used to manage UDP protocol communication links; and the channel switching module is used to dynamically switch control channels by changing the communication address.