Unmanned aerial vehicle remote control method, device, equipment and medium

Abstract

The invention discloses an unmanned aerial vehicle remote control method, device and equipment and a medium, and relates to the technical field of communication, and the method comprises the steps that ground communication equipment obtains an original remote control frame from a control station; the original remote control frame comprises a first timestamp when the control station generates the original remote control frame; and after the original remote control frame is verified to be normal based on the to-be-verified field, triggering a preset frame sending operation so as to add a second timestamp when the operation is triggered to the original remote control frame to obtain a first remote control frame, and sending the first remote control frame to airborne communication equipment carried by the unmanned aerial vehicle, and when the second remote control frame is verified to be normal based on the to-be-verified field and the timestamp, the unmanned aerial vehicle is controlled to respond to the second remote control frame. The time synchronization of the control station, the ground communication equipment and the airborne communication equipment is kept based on the global navigation satellite system, and the transmission reliability of the remote control frame is improved in combination with remote control frame abnormity verification.

Description

Technical Field

[0001] This invention relates to the field of communication technology, and in particular to a method, apparatus, device and medium for remote control of unmanned aerial vehicles (UAVs). Background Technology

[0002] The control station transmits remote control commands to the drone via ground communication equipment to the onboard communication equipment built on the drone, thereby enabling remote control of the drone. This is crucial to ensuring that the drone can complete its mission safely, controllably, and efficiently, and directly affects the drone's operational safety and mission success rate.

[0003] Both the control station and ground communication equipment send remote control frames at fixed intervals (e.g., 10ms). Data is typically transmitted over a network. If the clock cycles of the two sides are inconsistent, the telemetry frames received by the ground and airborne communication equipment may be discontinuous or repetitive, leading to problems such as frame loss, duplicate frames, delays, and incorrect frames. Furthermore, if errors, duplications, or data loss occur during the conversion of remote control frames into serial data by the ground communication equipment, normal remote control frames may be abnormally truncated, resulting in frame loss and incorrect frames. Additionally, during the transmission of remote control frames, signal interference and transmission distance limitations can also cause errors, frame loss, or delays. If the remote control frames received by the UAV are abnormal, it can easily lead to UAV remote control failure or malfunction.

[0004] Therefore, how to improve the transmission reliability of remote control frames is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the purpose of this invention is to provide a method, apparatus, device, and medium for remote control of unmanned aerial vehicles (UAVs), which can maintain time synchronization between the control station, ground communication equipment, and airborne communication equipment based on the Global Navigation Satellite System (GNSS), and improve the transmission reliability of remote control frames by combining remote control frame anomaly verification. The specific solution is as follows: In a first aspect, this application provides a method for remotely controlling an unmanned aerial vehicle (UAV), applied to ground communication equipment, comprising: Obtain the original remote control frame sent by the control station; the original remote control frame contains a first timestamp when the control station generated the original remote control frame; Anomaly verification is performed on the original remote control frame based on the field to be verified. After the original remote control frame is verified to be normal, a preset frame sending operation is triggered to add the second timestamp of the operation triggering to the original remote control frame to obtain a first remote control frame. The first remote control frame is then sent to the airborne communication device carried by the UAV so that the airborne communication device can generate a second remote control frame based on the first remote control frame and control the UAV to respond to the second remote control frame when the second remote control frame is verified to be normal. The second remote control frame is a remote control frame obtained by adding a third timestamp of the first remote control frame received by the airborne communication device to the first remote control frame; the verification process of the second remote control frame includes the airborne communication device performing anomaly verification on the second remote control frame based on the field to be verified and the timestamp in the second remote control frame; the control station, the ground communication device and the airborne communication device achieve time synchronization based on the Global Navigation Satellite System.

[0006] Optionally, the drone remote control method further includes: The control station acquires time synchronization information sent by its local timing device; the time synchronization information is obtained by the control station after encapsulating the time information acquired from the Global Navigation Satellite System using the Precise Network Time Protocol. Based on the time synchronization information, it achieves time synchronization with the control station; Accordingly, the airborne communication equipment achieves time synchronization with the control station and the ground communication equipment based on the time information obtained from the global navigation satellite system.

[0007] Optionally, the fields to be verified include a frame start field, a frame length field, and a frame verification field; Accordingly, anomaly verification is performed on the target remote control frame based on the field to be verified, including: Anomaly detection of the target remote control frame is performed by determining whether the target remote control frame contains a frame start field. Anomaly detection of the target remote control frame is performed by determining whether the frame length field in the target remote control frame and the data length corresponding to the actual remote control data are consistent. Anomaly detection of the target remote control frame is performed by determining whether the frame verification field in the target remote control frame and the verification value corresponding to the actual remote control data are consistent. The target remote control frame is either the original remote control frame or the second remote control frame.

[0008] Optionally, based on the timestamp in the second remote control frame, anomaly verification is performed on the second remote control frame, including: The first timestamp difference is determined based on the second timestamp and the first timestamp in the second remote control frame; The second timestamp difference is determined based on the third timestamp and the second timestamp in the second remote control frame; The second remote control frame is checked for anomalies by determining whether the difference between the first timestamp and the difference between the second timestamp meet their respective preset difference conditions. Accordingly, when the second remote control frame verification is abnormal, the airborne communication device prohibits the UAV from responding to the second remote control frame and controls the UAV to start autonomous flight mode.

[0009] Optionally, after acquiring the original remote control frame sent by the control station, the method further includes: The current frame count field is obtained from the original remote control frame; the current frame count field is a field determined by the control station based on the current frame count when generating the original remote control frame; wherein, for each remote control frame generated by the control station, the current frame count is incremented by one, and when the current frame count accumulates to a preset maximum value, the current frame count is set to zero when generating the next remote control frame; By determining whether the frame counts corresponding to the current frame count field and the historical frame count field meet the preset frame continuity condition, it is determined whether the original remote control frame is continuous with the previously acquired remote control frame; the historical frame count field is the frame count field in the previously acquired remote control frame. When the original remote control frame is not continuous with the previously acquired remote control frame, a timer is triggered to start timing. When the current timing of the timer reaches a preset time, if the ground communication device does not meet the preset recovery conditions, target report data is generated based on the target anomaly identifier representing the discontinuity of the remote control frame, and the target report data is sent to the control station for processing. The preset recovery condition includes the fact that the frame counts corresponding to the frame count fields of the first preset number of continuously acquired remote control frames all satisfy the preset frame continuity condition.

[0010] Optionally, the original remote control frame may also include an adjustment field; The process of determining the adjustment field includes: The control station parses the report data obtained from the ground communication equipment and / or the airborne communication equipment to determine the device that caused the remote control frame anomaly and the type of remote control frame anomaly. Based on the device that caused the anomaly and the type of remote control frame anomaly, it determines the device to be adjusted and the corresponding adjustment logic, and determines the adjustment field based on the device to be adjusted and the corresponding adjustment logic. Accordingly, the adjustment field is used to instruct the device to be adjusted to adjust itself using the corresponding adjustment logic.

[0011] Optionally, the drone remote control method further includes: After the original remote control frame is verified to be normal, the original remote control frame is stored in a preset queue, and after the original remote control frame is read from the preset queue, the original remote control frame is sequentially written into a second preset number of storage areas. Accordingly, the triggering of the preset frame transmission operation, which adds the second timestamp of the operation triggering time to the original remote control frame to obtain the first remote control frame, includes: A preset frame sending operation is triggered to read the original remote control frame from the storage area where the latest remote control frame has been written, and the second timestamp of the operation triggering time is added to the original remote control frame to obtain the first remote control frame.

[0012] Secondly, this application provides a drone remote control device for use with ground communication equipment, comprising: The remote control frame acquisition module is used to acquire the original remote control frame sent by the control station; the original remote control frame contains a first timestamp when the control station generated the original remote control frame; The remote control frame verification module is used to perform anomaly verification on the original remote control frame based on the field to be verified. The remote control frame sending module is used to trigger a preset frame sending operation after the original remote control frame is verified to be normal, so as to add the second timestamp of the operation triggering to the original remote control frame to obtain a first remote control frame, and send the first remote control frame to the airborne communication device carried by the UAV, so that the airborne communication device generates a second remote control frame based on the first remote control frame, and controls the UAV to respond to the second remote control frame when the second remote control frame is verified to be normal. The second remote control frame is a remote control frame obtained by adding a third timestamp of the first remote control frame received by the airborne communication device to the first remote control frame; the verification process of the second remote control frame includes the airborne communication device performing anomaly verification on the second remote control frame based on the field to be verified and the timestamp in the second remote control frame; the control station, the ground communication device and the airborne communication device achieve time synchronization based on the Global Navigation Satellite System.

[0013] Thirdly, this application provides an electronic device, comprising: Memory, used to store computer programs; A processor is used to execute the computer program to implement the aforementioned drone remote control method.

[0014] Fourthly, this application provides a computer-readable storage medium for storing a computer program, which, when executed by a processor, implements the aforementioned drone remote control method.

[0015] In this application, the ground communication equipment acquires the original remote control frame sent by the control station; the original remote control frame contains a first timestamp when the control station generated the original remote control frame; the original remote control frame is subjected to anomaly verification based on the field to be verified; after the original remote control frame is verified to be normal, a preset frame sending operation is triggered to add a second timestamp when the operation is triggered to the original remote control frame to obtain a first remote control frame, and the first remote control frame is sent to the airborne communication equipment carried by the UAV, so that the airborne communication equipment generates a second remote control frame based on the first remote control frame, and controls the UAV to respond to the second remote control frame when the second remote control frame is verified to be normal; wherein, the second remote control frame is the remote control frame obtained by the airborne communication equipment adding a third timestamp when the first remote control frame is received to the first remote control frame; the verification process of the second remote control frame includes the airborne communication equipment performing anomaly verification on the second remote control frame based on the field to be verified and the timestamp in the second remote control frame respectively; the control station, the ground communication equipment, and the airborne communication equipment achieve time synchronization based on the Global Navigation Satellite System.

[0016] Therefore, this application ensures that each stage of remote control frame generation, transmission, and reception is recorded by adding timestamp information to the remote control frame. This allows for the verification of any delay anomalies in the remote control frame through timestamps. Furthermore, this application introduces a verification field so that both the ground and airborne communication devices perform anomaly checks on the received remote control frame. Only after the remote control frame is verified to be normal will the corresponding response operation be executed. For example, the ground communication device sends the remote control frame to the airborne communication device, which then controls the UAV to respond to the remote control frame, ultimately achieving remote control of the UAV. Anomaly checks on the remote control frame improve the transmission reliability of the remote control frame, thereby improving the reliability of UAV remote control. Moreover, this application uses a global navigation satellite system to achieve time synchronization between the control station, ground communication device, and airborne communication device, avoiding remote control frame anomaly problems caused by inconsistent clock cycles, which also improves the transmission reliability of the remote control frame. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0018] Figure 1 A flowchart of a drone remote control method provided in this application embodiment; Figure 2A schematic diagram of a FIFO cache provided in an embodiment of this application; Figure 3 A schematic diagram of RAM writing provided in an embodiment of this application; Figure 4 This application provides a schematic diagram of a remote control frame periodic transmission method. Figure 5 A model prediction flowchart provided for an embodiment of this application; Figure 6 A flowchart of a drone remote control provided in this application embodiment; Figure 7 This is a schematic diagram of a drone remote control device provided in an embodiment of this application; Figure 8 This is a structural diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] The control station transmits remote control commands to the UAV via ground communication equipment to the onboard communication equipment built by the UAV, thereby achieving remote control of the UAV. This is crucial for ensuring the safe, controllable, and efficient completion of tasks by the UAV, directly impacting operational safety and mission success rate. However, due to factors such as inconsistent clock cycles, errors in remote control frame processing, and abnormal transmission of remote control frames, problems such as frame loss, duplicate frames, delays, and incorrect frames can easily occur. If the remote control frame received by the UAV is abnormal, it can easily lead to remote control failure or malfunction. To address this, this application provides a UAV remote control method that maintains time synchronization between the control station, ground communication equipment, and onboard communication equipment based on the Global Navigation Satellite System (GNSS), and combines remote control frame anomaly verification to improve the transmission reliability of remote control frames, thereby enhancing the reliability of UAV remote control.

[0021] See Figure 1 As shown, this embodiment of the invention discloses a method for remotely controlling a drone, applied to ground communication equipment, including: Step S11: Obtain the original remote control frame sent by the control station; the original remote control frame contains the first timestamp when the control station generated the original remote control frame.

[0022] In this embodiment, the control station periodically generates original remote control frames and adds a first timestamp of the time of generation to the reserved control station timestamp field in the original remote control frame. Then, it periodically sends the original remote control frames with the first timestamp added to them to the ground communication equipment. Correspondingly, the ground communication equipment obtains the original remote control frames sent by the control station.

[0023] Furthermore, the control station and the ground communication equipment are connected via a wired network, meaning that data transmission between the control station and the ground communication equipment is conducted via a wired network.

[0024] Step S12: Perform anomaly verification on the original remote control frame based on the field to be verified.

[0025] In this embodiment of the application, after receiving the original remote control frame sent by the control station, the ground communication equipment performs anomaly verification on the original remote control frame based on the field to be verified. If the original remote control frame is found to be abnormal, the equipment generates report data based on the anomaly identifier of the characterization field and sends the report data to the control station for processing.

[0026] It should be noted that the fields to be verified include the frame start field, the frame length field, and the frame check field. The frame start field indicates the beginning of a remote control frame, for example, AA 55; the frame length field indicates the actual length of the remote control data in the frame; and the frame check field indicates the checksum of the actual remote control data in the frame. The checksum can be calculated using methods such as CRC (Cyclic redundancy check), checksum, BCC (Block Check Character), or LRC (Longitudinal Redundancy Check). These fields are fixed when the control station generates the original remote control frame. That is, when generating the original remote control frame, the control station first determines the frame length field and the frame check field based on the actual remote control data, and then generates the original remote control frame based on the actual remote control data, the frame start field, the frame length field, and the frame check field.

[0027] However, due to reasons such as inconsistent clock cycles, abnormal remote control frame processing, and abnormal remote control frame transmission, the frame start field of the remote control frame may be lost, or the actual remote control data in the remote control frame may be incorrect, such as lost or tampered with. Therefore, after receiving the remote control frame, the communication equipment (ground communication equipment and airborne communication equipment) needs to perform anomaly verification on the received remote control frame based on the field to be verified, and only perform subsequent operations when the remote control frame verification is normal, thereby improving the transmission reliability of the remote control frame and the reliability of UAV remote control.

[0028] According to one example, anomaly verification of the original remote control frame based on the field to be verified may specifically include: verifying the original remote control frame by determining whether it contains a frame start field; verifying the original remote control frame by determining whether the frame length field in the original remote control frame and the data length corresponding to the actual remote control data are consistent; and verifying the original remote control frame by determining whether the frame verification field in the original remote control frame and the verification value corresponding to the actual remote control data are consistent.

[0029] If the original remote control frame contains a frame start field, it indicates that a new remote control frame begins from this point, and the original remote control frame verification is normal. If the original remote control frame does not contain a frame start field, it indicates that the original remote control frame is missing a frame start field, and the original remote control frame verification is abnormal.

[0030] Specifically, the frame length field and the actual remote control data are obtained from the original remote control frame. If the data lengths corresponding to the frame length field and the actual remote control data are consistent, it indicates that the original remote control frame verification is normal; if the data lengths corresponding to the frame length field and the actual remote control data are inconsistent, it indicates that the original remote control frame verification is abnormal.

[0031] Specifically, the frame verification field and the actual remote control data are obtained from the original remote control frame, and the corresponding verification value is calculated based on the actual remote control data. If the verification values ​​corresponding to the frame verification field and the actual remote control data are consistent, it indicates that the original remote control frame verification is normal; if the verification values ​​corresponding to the frame verification field and the actual remote control data are consistent, it indicates that the original remote control frame verification is abnormal.

[0032] Step S13: After the original remote control frame is verified to be normal, a preset frame transmission operation is triggered to add the second timestamp at the time of operation triggering to the original remote control frame to obtain a first remote control frame. The first remote control frame is then sent to the airborne communication device on the UAV, so that the airborne communication device can generate a second remote control frame based on the first remote control frame. When the second remote control frame is verified to be normal, the UAV is controlled to respond to the second remote control frame. The second remote control frame is obtained by adding the third timestamp at the time of receiving the first remote control frame to the first remote control frame. The verification process of the second remote control frame includes the airborne communication device performing anomaly verification on the second remote control frame based on the field to be verified and the timestamp in the second remote control frame. The control station, the ground communication device, and the airborne communication device achieve time synchronization based on the Global Navigation Satellite System.

[0033] In this embodiment, after the ground communication device verifies that the frame start field, frame length field, and frame check field of the original remote control frame are all normal, it triggers a preset frame transmission operation to add the second timestamp of the operation triggering time to the reserved ground device timestamp field in the original remote control frame to obtain a first remote control frame. The first remote control frame is then transmitted to the airborne communication device carried by the UAV via a wireless network. The airborne communication device adds the third timestamp of the received first remote control frame to the reserved airborne device timestamp field in the first remote control frame to obtain a second remote control frame. Based on the fields to be verified and the timestamps in the second remote control frame, the second remote control frame is checked for anomalies. When the second remote control frame is verified to be normal, the UAV is controlled to respond to the second remote control frame, thereby realizing the remote control of the UAV and improving the reliability of UAV remote control.

[0034] Furthermore, after the original remote control frame is verified to be normal, the ground communication equipment first stores the original remote control frame in a preset queue, and after reading the original remote control frame from the preset queue, writes the original remote control frame sequentially into a second preset number of storage areas.

[0035] Accordingly, when a preset frame sending operation is triggered subsequently, the original remote control frame is first read from the storage area where the latest remote control frame has been written, and the second timestamp of the operation is added to the original remote control frame to obtain the first remote control frame.

[0036] It should be noted that the preset queue can be a FIFO (First In, First Out) queue, such as... Figure 2 As shown, by adding a FIFO queue to the ground communication equipment, after receiving the original remote control frame sent by the control station, the ground communication equipment performs anomaly verification on the original remote control frame based on the frame start field, frame length field, and frame check field. Only when the original remote control frame is verified to be normal will the entire frame data be stored in the FIFO queue, thereby avoiding abnormal frames from affecting the processing of normal frames.

[0037] Furthermore, the storage area can be RAM (Random Access Memory), and the second preset quantity can be set to 3. For example... Figure 3As shown, by setting up three RAM storage areas in the ground communication equipment, and sequentially writing remote control frames read from the FIFO queue into these three RAM storage areas, when a preset frame transmission operation is triggered, the remote control frame is read from the RAM storage area where the most recently written remote control frame has been sent and then sent to subsequent stages for processing. In this way, by adding multiple RAM storage areas to the ground communication equipment, remote control data loss can be avoided when there are too many remote control frames during network fluctuations, ensuring the normal operation of subsequent equipment. Furthermore, by reading the remote control frame from the RAM storage area where the most recently written remote control frame has been sent, it ensures that the transmitted remote control frame is the latest data, reducing the latency of the UAV's response to remote control frames.

[0038] Furthermore, in this embodiment of the application, time synchronization of the control station, ground communication equipment and airborne communication equipment is achieved by using a Global Navigation Satellite System (GNSS). For example, the Global Navigation Satellite System can be the Beidou Navigation Satellite System (BDS).

[0039] Specifically, ground communication equipment acquires time synchronization information sent by the control station through its local timing equipment. This time synchronization information is obtained by the control station encapsulating the time information obtained from the Global Navigation Satellite System (GNSS) using the Precision Time Protocol (PTP). The ground communication equipment then synchronizes its own time with the control station based on this time synchronization information. Correspondingly, airborne communication equipment synchronizes its own time with the control station and ground communication equipment based on the time information obtained from the GNSS.

[0040] In other words, the control station obtains time information from the Global Navigation Satellite System through locally deployed GNSS timing equipment as its internal clock source. It then encapsulates the time information using a precise network time protocol and sends the resulting time synchronization information to the ground communication equipment. The ground communication equipment synchronizes its own time with the control station based on this information, ensuring unified time synchronization between the two and guaranteeing the consistency of their clock sources.

[0041] Correspondingly, the UAV will send the time information obtained from the Global Navigation Satellite System to the airborne communication equipment through the 422 serial port, so that the airborne communication equipment can synchronize its own time with the control station and ground communication equipment based on the time information obtained from the UAV, and ensure the consistency of the clock source of the control station, ground communication equipment and airborne communication equipment.

[0042] like Figure 4As shown, taking a remote control frame transmission period of 10ms for both the control station and the ground communication equipment as an example, through time synchronization of the control station, the ground communication equipment and the airborne communication equipment, after receiving the remote control frame sent by the control station, the ground communication equipment can send the remote control frame to the airborne communication equipment for processing in the next time period, thereby avoiding the phenomenon of frame duplication or frame loss in this stage.

[0043] For airborne communication equipment to perform anomaly verification on the second remote control frame based on the field to be verified, it may specifically include: determining whether the second remote control frame contains a frame start field to perform anomaly verification on the second remote control frame; determining whether the frame length field in the second remote control frame and the data length corresponding to the actual remote control data are consistent to perform anomaly verification on the second remote control frame; and determining whether the frame verification field in the second remote control frame and the verification value corresponding to the actual remote control data are consistent to perform anomaly verification on the second remote control frame.

[0044] The airborne communication equipment performs anomaly verification on the second remote control frame based on the timestamp in the second remote control frame. Specifically, this may include: determining the difference between the first and second timestamps in the second remote control frame; determining the difference between the second and third timestamps in the second remote control frame; and verifying whether the difference between the first and second timestamps meets their respective preset difference conditions. Correspondingly, when the second remote control frame verification fails, the airborne communication equipment prohibits the UAV from responding to the second remote control frame and controls the UAV to initiate autonomous flight mode to avoid responding to the abnormal remote control frame.

[0045] Specifically, determining whether the first timestamp difference meets the corresponding preset difference condition includes: calculating the average difference based on the historical first timestamp differences determined in the last five minutes, and determining whether the first time deviation obtained by subtracting the average difference from the first timestamp difference exceeds the first preset threshold. If it exceeds the threshold, it indicates that the second remote control frame verification is abnormal; if it does not exceed the threshold, it indicates that the second remote control frame verification is normal.

[0046] Specifically, determining whether the second timestamp difference meets the corresponding preset difference condition includes: determining the real-time spatial transmission delay based on the relative position of the airborne communication equipment and the ground communication equipment, subtracting the spatial transmission delay from the second timestamp difference to obtain the processing delay, calculating the average delay based on the historical processing delay determined in the last five minutes, and determining whether the second time deviation obtained after subtracting the average delay from the processing delay exceeds the second preset threshold. If it exceeds the threshold, it indicates that the second remote control frame verification is abnormal; if it does not exceed the threshold, it indicates that the second remote control frame verification is normal.

[0047] In addition, the remote control frame also includes a frame count field. For the frame count field, the ground communication equipment obtains the current frame count field from the original remote control frame; this current frame count field is determined by the control station based on the current frame count when generating the original remote control frame; for each remote control frame generated, the control station increments the current frame count by one, and when the current frame count accumulates to a preset maximum value, it sets the current frame count to zero when generating the next remote control frame; then, the ground communication equipment determines whether the original remote control frame is continuous with the previously acquired remote control frame by judging whether the frame counts corresponding to the current frame count field and the historical frame count field meet the preset frame continuity condition; the historical frame count field is the frame count field in the previously acquired remote control frame; when the original remote control frame is not continuous with the previously acquired remote control frame, a timer is triggered to start timing, and when the current timer reaches the preset time, if the ground communication equipment does not meet the preset recovery condition, target report data is generated based on the target anomaly identifier representing the discontinuity of the remote control frame, and the target report data is sent to the control station for processing.

[0048] It should be noted that the preset recovery conditions include the fact that the frame counts corresponding to the frame count fields of the first preset number of continuously acquired remote control frames all meet the preset frame continuity conditions.

[0049] Furthermore, for each remote control frame generated, the control station increments the current frame count by one. When the current frame count reaches a preset maximum value, it is set to zero when the next remote control frame is generated. The preset maximum value is the maximum decimal number corresponding to the number of bytes in the frame count field. For example, if the frame count field is one byte (eight bits), the binary number of eight bits is 00000000~11111111, and the corresponding decimal number is 0~255. In this case, the preset maximum value is 255. That is, the current frame count cycles between 0 and 255. Correspondingly, the preset frame continuity conditions include: when the frame count corresponding to the current frame count field is 0, the frame count corresponding to the historical frame count field is 255; when the frame count corresponding to the current frame count field is between 1 and 255, the frame count corresponding to the historical frame count field is reduced by one.

[0050] Correspondingly, after receiving the second remote control frame, the airborne communication equipment will also obtain the current frame count field from the second remote control frame, and determine whether the frame counts corresponding to the current frame count field and the historical frame count field meet the preset frame continuity conditions to determine whether the second remote control frame is continuous with the previously obtained remote control frame; wherein, the historical frame count field is the frame count field in the previously obtained remote control frame; when the second remote control frame is not continuous with the previously obtained remote control frame, a timer is triggered to start timing, and when the current timing of the timer reaches the preset time, if the airborne communication equipment does not meet the preset recovery conditions, target report data is generated based on the target anomaly identifier representing the discontinuity of the remote control frame, and the target report data is sent to the control station for processing.

[0051] In this way, by adding a frame count field to the remote control frame and adding frame continuity judgment logic to the communication equipment (including ground communication equipment and airborne communication equipment), if the remote control frame is not sent continuously, a timer is triggered, and if the frame continuity is not restored when the current count of the timer reaches the preset time, the frame continuity abnormality is reported in the report data.

[0052] In addition, the original remote control frame also includes an adjustment field. The process of determining the adjustment field includes: the control station parses the report data obtained from ground communication equipment and / or airborne communication equipment to determine the device causing the remote control frame anomaly and the type of anomaly; based on the device causing the anomaly and the type of anomaly, it determines the device to be adjusted and the corresponding adjustment logic; and based on the device to be adjusted and the corresponding adjustment logic, it determines the adjustment field. Accordingly, the adjustment field is used to instruct the device to be adjusted to adjust itself using the corresponding adjustment logic. The device causing the anomaly includes ground communication equipment and / or airborne communication equipment; the type of remote control frame anomaly includes remote control frame discontinuity, timestamp difference anomaly, and verification field anomaly; the device to be adjusted includes any one or a combination of several of the control station, ground communication equipment, and airborne communication equipment.

[0053] It should be noted that the adjustment field consists of three bytes. The first byte is used to store the adjustment logic for the control station, the second byte is used to store the adjustment logic for the ground communication equipment, and the third byte is used to store the adjustment logic for the airborne communication equipment.

[0054] After identifying the device to be adjusted and its corresponding adjustment logic, if the device to be adjusted includes the control station, the control station adjusts itself using its own corresponding adjustment logic. Furthermore, after determining the adjustment fields based on the device to be adjusted and its corresponding adjustment logic, and generating an original remote control frame based on these fields, the control station sends the original remote control frame to the ground communication equipment. This allows the ground communication equipment to adjust itself using its corresponding adjustment logic when it determines, through the adjustment fields in the original remote control frame, that the device to be adjusted includes the ground communication equipment. Similarly, after obtaining the first remote control frame generated from the original remote control frame from the ground communication equipment, if the airborne communication equipment determines, through the adjustment fields in the first remote control frame, that the device to be adjusted includes the airborne communication equipment, it adjusts itself using its corresponding adjustment logic, thereby achieving dynamic adjustment of the control station, ground communication equipment, and airborne communication equipment.

[0055] like Figure 5 As shown, for the control station to determine the equipment to be adjusted and the corresponding adjustment logic, it specifically inputs the report data obtained from the ground communication equipment and / or airborne communication equipment into the locally deployed intelligent prediction model to predict the equipment to be adjusted and the corresponding adjustment logic. Then, when the control station generates the original remote control frame, it adds the equipment to be adjusted and the corresponding adjustment logic to the adjustment field of the original remote control frame to instruct the equipment to be adjusted to adjust itself using the corresponding adjustment logic.

[0056] The internal logic of the intelligent prediction model specifically includes: First, determining the device causing the remote control frame anomaly based on the reported data, and then determining the anomaly type based on the anomaly identifier in the reported data. If the device is a ground communication device, it further determines whether the remote control frame anomaly type is a first timestamp difference anomaly. If the first timestamp difference is abnormal, the device to be adjusted is determined to be the control station. The corresponding adjustment logic is that the control station adjusts the timing compensation parameter of the PTP protocol to the first time deviation, so that when the ground communication device receives the timing compensation parameter sent by the control station based on the PTP protocol, it can use the timing compensation parameter to adjust its own clock source to ensure time synchronization between the control station and the ground communication device. If the first timestamp difference is normal, it determines whether the remote control frame anomaly type is a discontinuous remote control frame. If the remote control frame is discontinuous, the packet loss rate of the network interface used to receive remote control frames in the ground communication device is detected. If the packet loss rate exceeds a preset threshold, the device to be adjusted is determined to be the ground communication device, and the corresponding adjustment logic is that the ground communication device resets the network interface. If the remote control frames are continuous or the packet loss rate does not exceed the preset threshold, the device to be adjusted is determined to be the control station. The corresponding adjustment logic is that the control station reports the device that caused the remote control frame anomaly and the type of remote control frame anomaly to the host computer so that the host computer can intervene manually.

[0057] If the device is an airborne communication device, the next step is to determine whether the remote control frame anomaly is due to a second timestamp difference anomaly. If the second timestamp difference is abnormal, the device to be adjusted is determined to be an airborne communication device. The corresponding adjustment logic is for the airborne communication device to adjust the timing compensation parameter of the PTP protocol to the second time deviation, so that the airborne communication device can use the timing compensation parameter to adjust its own clock source, ensuring time synchronization of the control station, ground communication equipment, and airborne communication equipment, and eliminating delays caused by spatial transmission (such as multipath transmission) and network fluctuations. If the second timestamp difference is normal, the next step is to determine whether the remote control frame anomaly is due to discontinuous remote control frames. If the remote control frames are continuous, the next step is to determine whether the remote control frame anomaly is due to a field verification anomaly, and whether the cumulative number of field verification anomalies has reached a preset number. If the field verification anomaly is present and the cumulative number has reached a preset number, the device to be adjusted is determined to be either a ground communication device or an airborne communication device. The corresponding adjustment logic is to switch to an anti-interference communication mode, thereby reducing communication bandwidth, improving anti-interference capability, and eliminating bit errors caused by spatial transmission. If the field to be verified is normal or abnormal and the cumulative number of verifications has not reached the preset number, the device to be adjusted is determined to be the control station. The corresponding adjustment logic is that the control station reports the device that caused the remote control frame anomaly and the type of remote control frame anomaly to the host computer for manual intervention. If the remote control frames are discontinuous, the devices to be adjusted are determined to be the control station, ground communication equipment, and airborne communication equipment. The adjustment logic for the control station is that the control station dynamically determines the number of times the remote control frame is retransmitted based on the cumulative number of discontinuous remote control frames and the actual situation of the current discontinuity, so that the control station can retransmit each remote control frame based on the number of retransmissions. The adjustment logic for the ground communication equipment is to add a duplicate frame rejection function to the ground communication equipment to remove duplicate remote control frames. The adjustment logic for the airborne communication equipment is to add a duplicate frame rejection function to the airborne communication equipment to remove duplicate remote control frames.

[0058] In addition, the intelligent prediction model can continuously correct and optimize the judgment threshold parameters based on user experience and actual prediction data, and provide statistical data to assist in correcting the judgment logic, thereby realizing a negative feedback mechanism to improve the reliability of remote control frame transmission.

[0059] The remote control frame structure designed in this application embodiment is shown in Table 1 below. From low byte to high byte, the frames are: frame start field, frame type (characterizing the type of the remote control frame), frame identifier (used to uniquely identify the remote control frame), frame length field, ground communication equipment address, airborne communication equipment address, control station timestamp field, ground equipment timestamp field, airborne equipment timestamp field, adjustment field, actual remote control data, frame count field, frame check field, and frame end field (characterizing the end of a remote control frame).

[0060] Table 1 Remote Control Frame Structure Table

[0061] Therefore, this application ensures that each stage of remote control frame generation, transmission, and reception is recorded by adding timestamp information to the remote control frame. This allows for the verification of any delay anomalies in the remote control frame through timestamps. Furthermore, this application introduces a verification field so that both the ground and airborne communication devices perform anomaly checks on the received remote control frame. Only after the remote control frame is verified to be normal will the corresponding response operation be executed. For example, the ground communication device sends the remote control frame to the airborne communication device, which then controls the UAV to respond to the remote control frame, ultimately achieving remote control of the UAV. Anomaly checks on the remote control frame improve the transmission reliability of the remote control frame, thereby improving the reliability of UAV remote control. Moreover, this application uses a global navigation satellite system to achieve time synchronization between the control station, ground communication device, and airborne communication device, avoiding remote control frame anomaly problems caused by inconsistent clock cycles, which also improves the transmission reliability of the remote control frame.

[0062] See Figure 6 As shown, an embodiment of the present invention discloses a method for remotely controlling an unmanned aerial vehicle (UAV), comprising: The control station obtains time information from the Global Navigation Satellite System (GNSS) through locally deployed GNSS timing equipment as its internal clock source. It then encapsulates the time information using a precise network time protocol (NRMT) and sends the resulting time synchronization information to the ground communication equipment. The ground communication equipment receives the time synchronization information from the control station via a network interface and synchronizes its own time with the control station. Similarly, the UAV sends time information obtained from the GNSS via a 422 serial port to its onboard communication equipment. This allows the onboard communication equipment to synchronize its own time with the control station and the ground communication equipment based on the time information obtained from the UAV, ensuring clock source consistency among the control station, ground communication equipment, and onboard communication equipment.

[0063] The control station uses a local remote control frame generation device to determine the frame length field and frame check field based on the actual remote control data, as well as the frame count field based on the current frame count. It then generates an original remote control frame based on the actual remote control data, the frame start field, the frame length field, the frame check field, and the frame count field. The first timestamp when the original remote control frame was generated is added to the control station timestamp field reserved in the original remote control frame. Finally, the original remote control frame with the first timestamp added is sent to the ground communication equipment through the local network interface.

[0064] The ground communication equipment obtains the original remote control frame sent by the control station through the local network interface, and verifies the original remote control frame based on the frame start field, frame length field, frame check field, and frame count field. After the verification is normal, the original remote control frame is stored in a preset queue. After reading the original remote control frame from the preset queue, the original remote control frame is written sequentially into a second preset number of storage areas. Then, a preset frame transmission operation is triggered to read the original remote control frame from the storage area where the latest remote control frame has been written. The second timestamp when the operation is triggered is added to the reserved ground equipment timestamp field in the original remote control frame to obtain the first remote control frame. After the first remote control frame is processed by the radio frequency processing unit, it is transmitted to the airborne communication equipment carried by the UAV via the antenna.

[0065] The airborne communication equipment receives the first remote control frame through the antenna, and adds the third timestamp of the first remote control frame received to the reserved airborne equipment timestamp field in the first remote control frame through the radio frequency processing unit to obtain the second remote control frame. The second remote control frame is then checked for anomalies based on the frame start field, frame length field, frame check field, and frame count field, respectively, and the second remote control frame is also checked for anomalies based on the timestamp in the second remote control frame. When the second remote control frame is checked and found to be normal, the airborne response unit controls the UAV to respond to the second remote control frame.

[0066] Therefore, this application ensures that each stage of remote control frame generation, transmission, and reception is recorded by adding timestamp information to the remote control frame. This allows for the verification of any delay anomalies in the remote control frame through timestamps. Furthermore, this application introduces a verification field so that both the ground and airborne communication devices perform anomaly checks on the received remote control frame. Only after the remote control frame is verified to be normal will the corresponding response operation be executed. For example, the ground communication device sends the remote control frame to the airborne communication device, which then controls the UAV to respond to the remote control frame, ultimately achieving remote control of the UAV. Anomaly checks on the remote control frame improve the transmission reliability of the remote control frame, thereby improving the reliability of UAV remote control. Moreover, this application uses a global navigation satellite system to achieve time synchronization between the control station, ground communication device, and airborne communication device, avoiding remote control frame anomaly problems caused by inconsistent clock cycles, which also improves the transmission reliability of the remote control frame.

[0067] See Figure 7 As shown, an embodiment of the present invention discloses a drone remote control device, applied to ground communication equipment, comprising: The remote control frame acquisition module 11 is used to acquire the original remote control frame sent by the control station; the original remote control frame contains a first timestamp when the control station generates the original remote control frame; The remote control frame verification module 12 is used to perform anomaly verification on the original remote control frame based on the field to be verified. The remote control frame sending module 13 is used to trigger a preset frame sending operation after the original remote control frame is verified to be normal, so as to add the second timestamp of the operation triggering to the original remote control frame to obtain a first remote control frame, and send the first remote control frame to the airborne communication device carried by the UAV, so that the airborne communication device generates a second remote control frame based on the first remote control frame, and controls the UAV to respond to the second remote control frame when the second remote control frame is verified to be normal. The second remote control frame is a remote control frame obtained by adding a third timestamp of the first remote control frame received by the airborne communication device to the first remote control frame; the verification process of the second remote control frame includes the airborne communication device performing anomaly verification on the second remote control frame based on the field to be verified and the timestamp in the second remote control frame; the control station, the ground communication device and the airborne communication device achieve time synchronization based on the Global Navigation Satellite System.

[0068] Therefore, this application ensures that each stage of remote control frame generation, transmission, and reception is recorded by adding timestamp information to the remote control frame. This allows for the verification of any delay anomalies in the remote control frame through timestamps. Furthermore, this application introduces a verification field so that both the ground and airborne communication devices perform anomaly checks on the received remote control frame. Only after the remote control frame is verified to be normal will the corresponding response operation be executed. For example, the ground communication device sends the remote control frame to the airborne communication device, which then controls the UAV to respond to the remote control frame, ultimately achieving remote control of the UAV. Anomaly checks on the remote control frame improve the transmission reliability of the remote control frame, thereby improving the reliability of UAV remote control. Moreover, this application uses a global navigation satellite system to achieve time synchronization between the control station, ground communication device, and airborne communication device, avoiding remote control frame anomaly problems caused by inconsistent clock cycles, which also improves the transmission reliability of the remote control frame.

[0069] In some specific embodiments, the drone remote control device further includes: The synchronization information acquisition unit is used to acquire time synchronization information sent by the control station through its local timing device; the time synchronization information is obtained by the control station after encapsulating the time information acquired from the Global Navigation Satellite System using the Precise Network Time Protocol. A time synchronization unit is used to synchronize its own time with that of the control station based on the time synchronization information. Accordingly, the airborne communication equipment achieves time synchronization with the control station and the ground communication equipment based on the time information obtained from the global navigation satellite system.

[0070] In some specific embodiments, the fields to be verified include a frame start field, a frame length field, and a frame verification field; Accordingly, the UAV remote control device is specifically used to: perform anomaly verification on the target remote control frame by determining whether the target remote control frame contains a frame start field; perform anomaly verification on the target remote control frame by determining whether the frame length field in the target remote control frame and the data length corresponding to the actual remote control data are consistent; and perform anomaly verification on the target remote control frame by determining whether the frame check field in the target remote control frame and the check value corresponding to the actual remote control data are consistent; wherein, the target remote control frame is the original remote control frame or the second remote control frame.

[0071] In some specific embodiments, the drone remote control device is specifically used to: determine a first timestamp difference based on the second timestamp and the first timestamp in the second remote control frame; determine a second timestamp difference based on the third timestamp and the second timestamp in the second remote control frame; and perform anomaly verification on the second remote control frame by determining whether the first timestamp difference and the second timestamp difference satisfy their respective preset difference conditions. Accordingly, when the second remote control frame verification is abnormal, the airborne communication device prohibits the UAV from responding to the second remote control frame and controls the UAV to start autonomous flight mode.

[0072] In some specific embodiments, the drone remote control device further includes: The counting field acquisition unit is used to acquire the current frame count field from the original remote control frame; the current frame count field is a field determined by the control station based on the current frame count when generating the original remote control frame; wherein, for each remote control frame generated by the control station, the current frame count is incremented by one, and when the current frame count accumulates to a preset maximum value, the current frame count is set to zero when generating the next remote control frame; The frame continuity determination unit is used to determine whether the original remote control frame is continuous with the previously acquired remote control frame by judging whether the frame counts corresponding to the current frame count field and the historical frame count field meet the preset frame continuity conditions; the historical frame count field is the frame count field in the previously acquired remote control frame. The reporting data sending unit is used to trigger a timer to start timing when the original remote control frame is not continuous with the previously acquired remote control frame, and when the current timing of the timer reaches a preset time, if the ground communication device does not meet the preset recovery conditions, generate target reporting data based on the target anomaly identifier representing the discontinuity of the remote control frame, and send the target reporting data to the control station for processing. The preset recovery condition includes the fact that the frame counts corresponding to the frame count fields of the first preset number of continuously acquired remote control frames all satisfy the preset frame continuity condition.

[0073] In some specific embodiments, the original remote control frame also includes an adjustment field; The process of determining the adjustment field includes: the control station parses the report data obtained from the ground communication equipment and / or the airborne communication equipment to determine the device that caused the remote control frame anomaly and the type of remote control frame anomaly; based on the device that caused the anomaly and the type of remote control frame anomaly, it determines the device to be adjusted and the corresponding adjustment logic; and based on the device to be adjusted and the corresponding adjustment logic, it determines the adjustment field. Accordingly, the adjustment field is used to instruct the device to be adjusted to adjust itself using the corresponding adjustment logic.

[0074] In some specific embodiments, the drone remote control device further includes: The remote control frame storage unit is used to store the original remote control frame into a preset queue after the original remote control frame is verified to be normal, and to write the original remote control frame into a second preset number of storage areas in sequence after reading the original remote control frame from the preset queue. Accordingly, the remote control frame sending module 13 includes: The timestamp addition unit is used to trigger a preset frame transmission operation to read the original remote control frame from the storage area where the latest remote control frame has been written, and add the second timestamp when the operation is triggered to the original remote control frame to obtain the first remote control frame.

[0075] Furthermore, embodiments of this application also disclose an electronic device, Figure 8 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content of the diagram should not be construed as limiting the scope of this application.

[0076] Figure 8This is a schematic diagram of the structure of an electronic device 20 provided in an embodiment of this application. Specifically, the electronic device 20 may include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 stores a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the drone remote control method disclosed in any of the foregoing embodiments. Alternatively, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0077] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of this application, and is not specifically limited here; the input / output interface 25 is used to acquire external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs, and is not specifically limited here.

[0078] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or optical disk, etc. The resources stored thereon can include operating system 221, computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0079] The operating system 221 is used to manage and control the various hardware devices on the electronic device 20 and the computer program 222, which may be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program capable of performing the drone remote control method executed by the electronic device 20 as disclosed in any of the foregoing embodiments, the computer program 222 may further include a computer program capable of performing other specific tasks.

[0080] Furthermore, this application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned disclosed drone remote control method. Specific steps of this method can be found in the corresponding content disclosed in the foregoing embodiments, and will not be repeated here.

[0081] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0082] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0083] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0084] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0085] The technical solutions provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for remotely controlling an unmanned aerial vehicle (UAV), characterized in that, Applications in terrestrial communication equipment, including: Obtain the original remote control frame sent by the control station; the original remote control frame contains a first timestamp when the control station generated the original remote control frame; Anomaly verification is performed on the original remote control frame based on the field to be verified. After the original remote control frame is verified to be normal, a preset frame sending operation is triggered to add the second timestamp of the operation triggering to the original remote control frame to obtain a first remote control frame. The first remote control frame is then sent to the airborne communication device carried by the UAV so that the airborne communication device can generate a second remote control frame based on the first remote control frame and control the UAV to respond to the second remote control frame when the second remote control frame is verified to be normal. The second remote control frame is a remote control frame obtained by adding a third timestamp of the first remote control frame received by the airborne communication device to the first remote control frame; the verification process of the second remote control frame includes the airborne communication device performing anomaly verification on the second remote control frame based on the field to be verified and the timestamp in the second remote control frame; the control station, the ground communication device and the airborne communication device achieve time synchronization based on the Global Navigation Satellite System.

2. The unmanned aerial vehicle (UAV) remote control method according to claim 1, characterized in that, Also includes: The control station acquires time synchronization information sent by its local timing device; the time synchronization information is obtained by the control station after encapsulating the time information acquired from the Global Navigation Satellite System using the Precise Network Time Protocol. Based on the time synchronization information, it achieves time synchronization with the control station; Accordingly, the airborne communication equipment achieves time synchronization with the control station and the ground communication equipment based on the time information obtained from the global navigation satellite system.

3. The unmanned aerial vehicle (UAV) remote control method according to claim 1, characterized in that, The fields to be verified include the frame start field, the frame length field, and the frame verification field; Accordingly, anomaly verification is performed on the target remote control frame based on the field to be verified, including: Anomaly detection of the target remote control frame is performed by determining whether the target remote control frame contains a frame start field. Anomaly detection of the target remote control frame is performed by determining whether the frame length field in the target remote control frame and the data length corresponding to the actual remote control data are consistent. Anomaly detection of the target remote control frame is performed by determining whether the frame verification field in the target remote control frame and the verification value corresponding to the actual remote control data are consistent. The target remote control frame is either the original remote control frame or the second remote control frame.

4. The unmanned aerial vehicle (UAV) remote control method according to claim 3, characterized in that, Based on the timestamp in the second remote control frame, anomaly verification is performed on the second remote control frame, including: The first timestamp difference is determined based on the second timestamp and the first timestamp in the second remote control frame; The second timestamp difference is determined based on the third timestamp and the second timestamp in the second remote control frame; The second remote control frame is checked for anomalies by determining whether the difference between the first timestamp and the difference between the second timestamp meet their respective preset difference conditions. Accordingly, when the second remote control frame verification is abnormal, the airborne communication device prohibits the UAV from responding to the second remote control frame and controls the UAV to start autonomous flight mode.

5. The unmanned aerial vehicle (UAV) remote control method according to claim 4, characterized in that, After acquiring the original remote control frame sent by the control station, the process further includes: The current frame count field is obtained from the original remote control frame; the current frame count field is a field determined by the control station based on the current frame count when generating the original remote control frame; wherein, for each remote control frame generated by the control station, the current frame count is incremented by one, and when the current frame count accumulates to a preset maximum value, the current frame count is set to zero when generating the next remote control frame; By determining whether the frame counts corresponding to the current frame count field and the historical frame count field meet the preset frame continuity condition, it is determined whether the original remote control frame is continuous with the previously acquired remote control frame; the historical frame count field is the frame count field in the previously acquired remote control frame. When the original remote control frame is not continuous with the previously acquired remote control frame, a timer is triggered to start timing. When the current timing of the timer reaches a preset time, if the ground communication device does not meet the preset recovery conditions, target report data is generated based on the target anomaly identifier representing the discontinuity of the remote control frame, and the target report data is sent to the control station for processing. The preset recovery condition includes the fact that the frame counts corresponding to the frame count fields of the first preset number of continuously acquired remote control frames all satisfy the preset frame continuity condition.

6. The unmanned aerial vehicle (UAV) remote control method according to claim 5, characterized in that, The original remote control frame also includes an adjustment field; The process of determining the adjustment field includes: The control station parses the report data obtained from the ground communication equipment and / or the airborne communication equipment to determine the device that caused the remote control frame anomaly and the type of remote control frame anomaly. Based on the device that caused the anomaly and the type of remote control frame anomaly, it determines the device to be adjusted and the corresponding adjustment logic, and determines the adjustment field based on the device to be adjusted and the corresponding adjustment logic. Accordingly, the adjustment field is used to instruct the device to be adjusted to adjust itself using the corresponding adjustment logic.

7. The unmanned aerial vehicle (UAV) remote control method according to any one of claims 1 to 6, characterized in that, Also includes: After the original remote control frame is verified to be normal, the original remote control frame is stored in a preset queue, and after the original remote control frame is read from the preset queue, the original remote control frame is sequentially written into a second preset number of storage areas. Accordingly, the triggering of the preset frame transmission operation, which adds the second timestamp of the operation triggering time to the original remote control frame to obtain the first remote control frame, includes: A preset frame sending operation is triggered to read the original remote control frame from the storage area where the latest remote control frame has been written, and the second timestamp of the operation triggering time is added to the original remote control frame to obtain the first remote control frame.

8. A drone remote control device, characterized in that, Applications in terrestrial communication equipment, including: The remote control frame acquisition module is used to acquire the original remote control frame sent by the control station; the original remote control frame contains a first timestamp when the control station generated the original remote control frame; The remote control frame verification module is used to perform anomaly verification on the original remote control frame based on the field to be verified. The remote control frame sending module is used to trigger a preset frame sending operation after the original remote control frame is verified to be normal, so as to add the second timestamp of the operation triggering to the original remote control frame to obtain a first remote control frame, and send the first remote control frame to the airborne communication device carried by the UAV, so that the airborne communication device generates a second remote control frame based on the first remote control frame, and controls the UAV to respond to the second remote control frame when the second remote control frame is verified to be normal. The second remote control frame is a remote control frame obtained by adding a third timestamp of the first remote control frame received by the airborne communication device to the first remote control frame; the verification process of the second remote control frame includes the airborne communication device performing anomaly verification on the second remote control frame based on the field to be verified and the timestamp in the second remote control frame; the control station, the ground communication device and the airborne communication device achieve time synchronization based on the Global Navigation Satellite System.

9. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the drone remote control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, Used to store a computer program, which, when executed by a processor, implements the drone remote control method as described in any one of claims 1 to 7.

Images