Beidou measurement unmanned ship control method and system based on hovering unmanned aerial vehicle

Abstract

The invention discloses a Beidou measurement unmanned ship control method and system based on a hovering unmanned aerial vehicle, and belongs to the field of unmanned ship overwater measurement, and the method comprises the steps: receiving first command data transmitted by a shore remote controller through a local area network; forwarding the first command data to a Beidou measurement unmanned ship through a local area network, so that the Beidou measurement unmanned ship completes navigation parameter setting according to the first command data and performs water area data acquisition; and in the acquisition process, the downloaded first differential data is transmitted to the Beidou measurement unmanned ship through a local area network, so that the Beidou measurement unmanned ship adjusts the real-time position of the ship body during water area data acquisition according to the first differential data, and therefore, the real-time position of the ship body during water area data acquisition can be adjusted according to the first differential data. The water area measurement range of the Beidou measurement unmanned ship can be expanded by hovering the unmanned aerial vehicle.

Description

Technical Field

[0001] This invention relates to the field of unmanned surface vessel (USV) maritime surveying, and more particularly to a control method and system for a USV surveying USV based on a hovering drone. Background Technology

[0002] Unmanned surface vessels (USVs) for waterborne surveying greatly facilitate the collection, processing, and transmission of various hydrological data on and under the surface of rivers and lakes. Currently, BeiDou high-precision RTK positioning technology is very mature. By installing an RTK host on the USV, it can acquire differential data in real time via a 4G network and output centimeter-level high-precision location information for the USV's use. This enables the USV to precisely control its operation along planned waterways. Onshore personnel can monitor the water conditions in real time using a remote control and manually control various equipment on the USV (including the RTK host and depth sounder) in special circumstances.

[0003] Current BeiDou-based unmanned surface vessel (USV) waterborne detection technology has the following problems: 1. There are 4G network blind spots in water areas. RT (Real-Time Kinematic) requires real-time download and reception of differential data from the CORS (Continuously Operating Reference Stations) server via the 4G network for RTK calculation to output centimeter-level high-precision positioning data. However, in rivers, lakes, and other waterways, there are likely to be 4G network blind spots. When the USV reaches a 4G network blind spot, it cannot receive differential data, resulting in a significant reduction in RTK positioning accuracy. This can cause the USV to deviate from its preset operating course, leading to loss of control, or even collisions with shore or other vessels, resulting in accidents. 2. There are distance or obstacles in the wireless communication between the remote controller and the USV. The remote controller in the technician's hand receives the USV's collected data and status data via wireless communication technology and can be manually controlled. Controlling unmanned boats requires that the distance between the remote controller and the boat does not exceed the maximum wireless communication range. However, in actual operation, the boat may veer off course due to positioning accuracy errors, or there may be obstacles or radio interference between the remote controller and the boat at some point. These factors could cause the boat to "escape" and become out of control. When the boat is in operation, small hills in the water may block the communication between the remote controller and the boat, causing the boat to "go out of control" or preventing water data from being transmitted back to the remote controller on shore. Furthermore, if the boat wants to expand its working range in the water, it will be difficult to achieve this due to the limited wireless communication distance between the remote controller and the boat. Summary of the Invention

[0004] This invention provides a control method and system for BeiDou-based unmanned surface vessel (USV) surveying, which can expand the water surveying range of the USV by using hovering USV.

[0005] This invention provides a control method for a BeiDou-based unmanned surface vessel for surveying, comprising: Receives first command data sent by the shore remote controller via a local area network; wherein, the local area network is composed of wireless bridge modules built into the shore remote controller, the hovering UAV, and the Beidou measurement unmanned vessel respectively; The first command data is forwarded to the Beidou measurement unmanned vessel via a local area network, so that the Beidou measurement unmanned vessel can complete the navigation parameter settings and collect water data according to the first command data. During the data acquisition process, the downloaded first differential data is transmitted to the Beidou measurement unmanned vessel via a local area network, so that the Beidou measurement unmanned vessel can adjust its real-time position during the data acquisition of the water area based on the first differential data.

[0006] This invention utilizes a local area network (LAN) formed by integrating wireless bridge modules into a BeiDou-based unmanned surface vessel (USV), a hovering drone, and a shore-based remote controller. This LAN enables communication between the three components. The hovering drone forwards command data from the shore-based remote controller to the USV via the LAN, extending the USV's operational range and ensuring uninterrupted wireless communication even with obstacles or interference between the shore-based remote controller and the USV. The hovering drone also transmits the first differential data downloaded to the USV via the LAN. When the USV lacks 4G network access and cannot obtain differential data, the differential data can be transmitted from the hovering drone to the USV, preventing the USV from being unable to receive differential data and thus failing to navigate the planned measurement route when entering 4G signal blind spots.

[0007] Furthermore, the BeiDou-guided unmanned surface vessel adjusts its real-time position during water area data collection based on the first differential data, specifically as follows: The Beidou-based unmanned surface vessel (USV) performs real-time statistical analysis on the first differential data and the second differential data to obtain statistical results. Based on the statistical results, it performs quality analysis on the first differential data and the second differential data to determine the final differential data. The second differential data is obtained by the USV through downloading. The Beidou-guided unmanned surface vessel (USV) determines the position information to be adjusted based on the final differential data, and adjusts the real-time position of the vessel during the water area data collection based on the position information to be adjusted.

[0008] This ensures that the BeiDou-guided unmanned surface vessel can operate accurately along the planned waterway. Statistical results are obtained by performing real-time statistics on the first and second differential data respectively. Based on the statistical results, the quality of the first and second differential data is analyzed and the final differential data is selected. The final differential data is then forwarded to the BeiDou positioning module to output location information, enabling the BeiDou-guided unmanned surface vessel to operate along the planned waterway according to the provided location information.

[0009] Furthermore, the wireless bridge module includes a first wireless bridge module for a shore-based remote controller, a second wireless bridge module for a hovering drone, and a third wireless bridge module for a BeiDou-based unmanned surface vessel. The first TCP / IP client port is opened based on the first wireless bridge module, the first TCP / IP service port, the second TCP / IP client port and the third TCP / IP client port are opened based on the second wireless bridge module, and the second TCP / IP service port and the third TCP / IP service port are opened based on the third wireless bridge module. The first TCP / IP client port and the first TCP / IP service port are connected to establish a first TCP / IP communication link. The second TCP / IP client port and the second TCP / IP service port are connected to establish a second TCP / IP communication link. The third TCP / IP client port and the third TCP / IP service port are connected to establish a third TCP / IP communication link. The local area network is formed by the three TCP / IP communication links.

[0010] Furthermore, it also includes: The system receives first collected data sent by the third service port of the Beidou surveying unmanned vessel through the third TCPIP communication link via the third client port; wherein, the first collected data is obtained by the Beidou surveying unmanned vessel during data collection in the waters it enters. The first collected data is forwarded to the first client port of the shore remote controller through the first service port of the first TCPIP communication link.

[0011] In this way, the first data collected by the Beidou measurement unmanned vessel is received through the third client port via the third service port and sent through the third TCPIP communication link. The first data collected by the Beidou measurement unmanned vessel is then forwarded to the first client port of the shore remote controller through the first service port of the first TCPIP communication link. This achieves the communication forwarding of the first data collected. When there is abnormal interference or the distance range is exceeded in the direct ground wireless communication between the shore remote controller and the Beidou measurement unmanned vessel, the shore remote controller can indirectly receive the data collected by the Beidou measurement unmanned vessel through the hovering drone.

[0012] Furthermore, the step of performing quality analysis on the first and second difference data based on statistical results to determine the final difference data specifically involves: The Beidou-guided unmanned surface vessel performs quality analysis on the first and second differential data based on statistical results. It compares the difference in the number of bytes between the first and second differential data within a continuous preset time period with a preset standard value. If the difference in the number of bytes is greater than the preset standard value, the second differential data is used as the final differential data; otherwise, the first differential data is used as the final differential data. The final differential data is used to determine the position information to be adjusted through RTK calculation.

[0013] In this way, by comparing the difference in the number of bytes between the first differential data and the second differential data within ten consecutive seconds through quality analysis with a preset standard value, the final differential data is determined. The final differential data is then forwarded to the Beidou positioning module to output location data. By selecting more accurate differential data, high-precision location information is obtained, enabling the Beidou measurement unmanned vessel to operate according to the planned waterway based on the provided location information.

[0014] Furthermore, the process of transmitting the downloaded first differential data to the BeiDou measurement unmanned vessel via a local area network includes: Connect to the CORS server via 4G network, download the differential data of the point named MountPointA mounted on the CORS server, and obtain the first differential data; The first differential data is transmitted to the second service port of the Beidou measurement unmanned vessel via the second client port of the second TCPIP communication link.

[0015] In this way, differential data with the point name MountPointA mounted on the CORS server is downloaded through the 4G network module to obtain the first differential data. The first differential data is then transmitted to the second service port of the Beidou measurement unmanned vessel through the second client port of the second TCPIP communication link, realizing the relay transmission of differential data. When the 4G network of the Beidou measurement unmanned vessel is abnormal and there is no differential data, differential data can be relayed to the Beidou measurement unmanned vessel through a hovering UAV, so as to avoid the Beidou measurement unmanned vessel being unable to receive differential data when it enters the 4G signal blind spot, thus preventing it from being unable to travel according to the planned measurement route.

[0016] Furthermore, after forwarding the first collected data to the first client port of the shore remote controller via the first service port of the first TCPIP communication link, the method further includes: The first client port of the shore-based remote controller receives the first collected data, performs data analysis and processing on the first collected data, converts the text data into water area information, and displays it.

[0017] In this way, the first collected data is received through the first client port of the shore-based remote controller. The first collected data, which is encapsulated in text format, is analyzed and processed. The text is converted into water area information and displayed. This realizes the relay transmission of the first collected data. The collected water area information, such as water depth information, is encapsulated in text format $psic,deepdata,10.0*crc\r\n and sent and forwarded according to the TCPIP communication link. Then, through data analysis and processing, the received text is converted into water area information and displayed.

[0018] Another embodiment of the present invention provides a Beidou-based measurement unmanned vessel control system, comprising: a shore-based remote controller, a hovering drone, and a Beidou-based measurement unmanned vessel; The hovering drone is used to execute the Beidou-based unmanned surface vessel control method as described in this application.

[0019] The Beidou-based unmanned surface vessel (USV) also includes: a Beidou-based USV wireless bridge communication module, a 4G network module, a Beidou-based USV CPU module, and a Beidou positioning module. The Beidou measurement unmanned vessel wireless bridge communication module is used to receive the first differential data transmitted by the hovering drone. The 4G network module is used to download the second differential data; The CPU module of the Beidou measurement unmanned vessel is used to perform real-time statistics on the first differential data and the second differential data respectively, obtain statistical results, and perform quality analysis on the first differential data and the second differential data based on the statistical results to determine the final differential data. The Beidou positioning module is used to determine the position information to be adjusted based on the final differential data, and to adjust the real-time position of the ship during the water area data collection based on the position information to be adjusted.

[0020] The shore-based remote controller also includes: a shore-based remote controller wireless bridge communication module, a shore-based remote controller CPU module, and an information display module; The onshore remote controller wireless bridge communication module is used to receive the first collected data forwarded by the hovering drone. The onshore remote controller CPU module is used to perform data analysis and processing on the first collected data, converting text data into water information. The information display module is used to display water area information.

[0021] This invention utilizes a local area network (LAN) formed by integrating wireless bridge modules into a BeiDou-based unmanned surface vessel (USV), a hovering drone, and a shore-based remote controller. This LAN enables communication between the three components. The hovering drone forwards command data from the shore-based remote controller to the USV via the LAN, extending the USV's operational range and ensuring uninterrupted wireless communication even with obstacles or interference between the shore-based remote controller and the USV. The hovering drone also transmits the first differential data downloaded to the USV via the LAN. When the USV lacks 4G network access and cannot obtain differential data, the differential data can be transmitted from the hovering drone to the USV, preventing the USV from being unable to receive differential data and thus failing to navigate the planned measurement route when entering 4G signal blind spots. Attached Figure Description

[0022] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a flowchart illustrating an embodiment of the BeiDou-based unmanned surface vessel control method for hovering drones provided by the present invention. Figure 2 This is a data interaction diagram of the wireless bridge module of the Beidou measurement unmanned vessel control method based on hovering UAV provided by the present invention; Figure 3 This is an overall flowchart of another embodiment of the Beidou measurement unmanned vessel control method based on hovering UAV provided by the present invention; Figure 4 This is a schematic diagram of the hovering drone workflow of the Beidou measurement unmanned vessel control system based on hovering drones provided by the present invention; Figure 5 This is a schematic diagram of the working process of the Beidou measurement unmanned vessel control system based on hovering UAV provided by the present invention. Figure 6 This is a schematic diagram of the shore-based remote controller workflow for the BeiDou-based unmanned surface vessel control system based on hovering drones provided by this invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0026] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0027] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0028] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0029] See Figure 1 To address the control problem of BeiDou-based unmanned surface vessels (USVs) in existing technologies, an embodiment of the present invention provides a control method for USVs based on hovering unmanned aerial vehicles (UAVs), comprising steps S1 to S3, the specific steps of which are as follows: S1. Receive the first command data sent by the shore remote controller through the local area network; wherein, the local area network is composed of the wireless bridge module built into the shore remote controller, the hovering UAV and the Beidou measurement unmanned vessel respectively; S2. The first command data is forwarded to the Beidou measurement unmanned vessel via the local area network, so that the Beidou measurement unmanned vessel can complete the navigation parameter settings and collect water data according to the first command data. S3. During the data acquisition process, the downloaded first differential data is transmitted to the Beidou measurement unmanned vessel via a local area network, so that the Beidou measurement unmanned vessel can adjust its real-time position during the data acquisition of the water area based on the first differential data.

[0030] This embodiment establishes a local area network (LAN) by integrating wireless bridge modules into the BeiDou-based unmanned surface vessel (USV), hovering drone, and shore-based remote controller. This LAN enables communication between the three. The hovering drone forwards command data from the shore-based remote controller to the USV via the LAN, extending the USV's operating distance and range. Even with obstacles or interference between the shore-based remote controller and the USV, wireless communication between the remote controller, drone, and USV remains unaffected. The USV transmits the first differential data downloaded by the hovering drone to the USV via the LAN. When the USV lacks 4G network access and cannot obtain differential data, the differential data can be transmitted from the hovering drone to the USV, preventing the USV from being unable to receive differential data and thus failing to navigate the planned measurement route when entering 4G signal blind spots.

[0031] In one embodiment, the BeiDou-guided unmanned surface vessel adjusts its real-time position during water area data acquisition based on the first differential data, including steps S201 to S202, each step of which is as follows: S201. The Beidou-based unmanned surface vessel (USV) performs real-time statistical analysis on the first differential data and the second differential data to obtain statistical results. Based on the statistical results, the USV performs quality analysis on the first differential data and the second differential data by comparing the difference in the number of bytes between the first differential data and the second differential data within a continuous preset time period with a preset standard value. If the difference in the number of bytes is greater than the preset standard value, the second differential data is used as the final differential data; otherwise, the first differential data is used as the final differential data. The second differential data is obtained by the USV through downloading.

[0032] The Beidou-guided unmanned surface vessel (USV) acquires the downloaded second differential data via its CPU device and counts the number of bytes of the second differential data per second in real time, denoted as "N bytes / second"; it also acquires the first differential data sent by the hovering UAV and counts the number of bytes of the first differential data per second in real time, denoted as "M bytes / second"; if the difference (MN) within a consecutive preset time period is greater than a preset standard value (100 bytes), the second differential data is used as the final differential data; otherwise, the first differential data is used as the final differential data.

[0033] S202. The Beidou measurement unmanned vessel determines the position information to be adjusted based on the final differential data, and adjusts the real-time position of the vessel during the water area data collection based on the position information to be adjusted.

[0034] In this embodiment, the difference in the number of bytes between the first differential data and the second differential data within a continuous preset time period is compared with a preset standard value through quality analysis to determine the final differential data. The final differential data is then forwarded to the Beidou positioning module to output location data. By selecting more accurate differential data, high-precision location information is obtained, enabling the Beidou measurement unmanned vessel to operate according to the planned waterway based on the provided location information.

[0035] In one embodiment, such as Figure 2 As shown, the wireless bridge module includes a first wireless bridge module for the shore remote controller, a second wireless bridge module for the hovering UAV, and a third wireless bridge module for the Beidou measurement unmanned surface vessel, including steps S301 to S302, each step of which is as follows: S301. Based on the first wireless bridge module, open the first TCPIP client port; based on the second wireless bridge module, open the first TCPIP service port, the second TCPIP client port and the third TCPIP client port; based on the third wireless bridge module, open the second TCPIP service port and the third TCPIP service port. The first wireless bridge module built into the shore remote controller has an IP address of 192.168.1.1; the second wireless bridge module built into the hovering drone has an IP address of 192.168.1.2; and the third wireless bridge module built into the Beidou measurement unmanned vessel has an IP address of 192.168.1.3. The three built-in wireless bridge modules enable the formation of a local area network.

[0036] S302, the first TCPIP client port and the first TCPIP service port are connected to establish a first TCPIP communication link, the second TCPIP client port and the second TCPIP service port are connected to establish a second TCPIP communication link, and the third TCPIP client port and the third TCPIP service port are connected to establish a third TCPIP communication link, forming the local area network through the three TCPIP communication links.

[0037] The first TCPIP communication link is used to transmit the first command data and the first acquisition data between the hovering UAV and the shore remote controller; the second TCPIP communication link is used to transmit the first differential data between the hovering UAV and the Beidou measurement unmanned vessel; and the third TCPIP communication link is used to transmit the first command data and the first acquisition data between the hovering UAV and the Beidou measurement unmanned vessel. The three communication links enable mutual communication between the hovering UAV, the shore remote controller, and the Beidou measurement unmanned vessel.

[0038] In one embodiment, such as Figure 3 As shown, steps S401 to S402 are included, and the specific details of each step are as follows: S401. Receive first collected data sent by the third service port of the Beidou surveying unmanned vessel through the third TCPIP communication link via the third client port; wherein, the first collected data is obtained by the Beidou surveying unmanned vessel during data collection in the waterway. The Beidou-guided unmanned surface vessel (USV) processes the collected water data and encapsulates it into a text format to obtain the first collected data, such as $psic,deepdata,10.0*crc\r\n. The first collected data is then sent to the hovering UAV via a third TCPIP communication link.

[0039] S402, The first collected data is forwarded to the first client port of the shore remote controller through the first service port of the first TCPIP communication link.

[0040] The shore-based remote controller receives the first collected data through a first TCPIP communication link, and performs data analysis and processing on the first collected data through a CPU device, converting it into water area information and displaying it.

[0041] In this embodiment, the first data collected by the Beidou measurement unmanned vessel is received through the third service port of the Beidou measurement unmanned vessel via the third TCPIP communication link. The first data collected by the Beidou measurement unmanned vessel is then forwarded to the first client port of the shore remote controller via the first service port of the first TCPIP communication link, thus realizing the communication forwarding of the first data collected. When there is abnormal interference or the distance range is exceeded when the direct ground wireless communication between the shore remote controller and the Beidou measurement unmanned vessel is abnormal, the shore remote controller can indirectly receive the data collected by the Beidou measurement unmanned vessel through the hovering drone.

[0042] This invention provides a BeiDou-based unmanned surface vessel (USV) measurement control system, comprising: a shore-based remote controller, a hovering USV, and a BeiDou-based USV measurement unmanned surface vessel; See Figure 4 The hovering drone is used to execute the Beidou-based measurement unmanned vessel control method as described in this application.

[0043] The hovering drone initiates data transmission after initializing its 4G network module and wireless bridge module. It then connects to a mount point named MountPointA on the CORS server via its 4G network to download the first differential data. Based on the wireless bridge module, it opens TCPIP service port 2222 for the shore remote controller to receive the first command data sent by the shore remote controller and forward the first acquisition data sent by the BeiDou-based unmanned surface vessel (USV) to the shore remote controller. It connects to the USV's service port 1110 to forward the first differential data to the USV. Finally, it connects to the USV's service port 1111 to forward the first command data sent by the shore remote controller to the USV, and forwards the USV's command response and the first acquisition data to the shore remote controller.

[0044] See Figure 5 The Beidou measurement unmanned vessel also includes: a Beidou measurement unmanned vessel wireless bridge communication module, a 4G network module, a Beidou measurement unmanned vessel CPU module, and a Beidou positioning module; The Beidou measurement unmanned vessel wireless bridge communication module is used to receive the first differential data transmitted by the hovering drone. The 4G network module is used to download the second differential data; The CPU module of the Beidou measurement unmanned vessel is used to perform real-time statistics on the first differential data and the second differential data respectively, obtain statistical results, and perform quality analysis on the first differential data and the second differential data based on the statistical results to determine the final differential data. The Beidou positioning module is used to determine the position information to be adjusted based on the final differential data, and to adjust the real-time position of the ship during the water area data collection based on the position information to be adjusted.

[0045] The BeiDou-based unmanned surface vessel (USV) initializes its BeiDou module, 4G network module, and wireless bridge module before starting the data transmission channel. It connects to the CORS server via the 4G network module to obtain differential data from MountPointA on the CORS server, thus obtaining the second differential data. Upon receiving the second differential data, the CPU continuously counts the number of bytes per second, denoted as "N bytes / second". A TCP / IP service port is opened via the wireless bridge module's network segment IP; port 1110 is used to receive the first differential data sent by the USV, and the first differential data is continuously counted per second. The number of bytes is denoted as "M bytes / second"; the 1111 service port is used to receive the first command data forwarded by the UAV and to respond to the command execution, while simultaneously sending back the first collected data to the hovering UAV for forwarding to the shore remote controller; the CPU module performs quality analysis on the first differential data and the second differential data. If the difference (MN) within a continuous preset time is greater than the preset standard value (100 bytes), the second differential data is used as the final differential data; otherwise, the first differential data is used as the final differential data; the final differential data is forwarded to the Beidou positioning module for RTK calculation to output high-precision position information data; See Figure 6 The shore remote controller also includes: a shore remote controller wireless bridge communication module, a shore remote controller CPU module, and an information display module; The onshore remote controller wireless bridge communication module is used to receive the first collected data forwarded by the hovering drone. The onshore remote controller CPU module is used to perform data analysis and processing on the first collected data, converting text data into water information. The information display module is used to display water area information.

[0046] The shore-based remote controller initializes the network module and initiates data transmission. It creates a TCP / IP client based on the wireless bridge module to connect to the UAV's port 2222, sending the first command data to the UAV and simultaneously receiving command replies and the first collected data from the hovering UAV. The information display module analyzes and processes the collected water area data, converting text-formatted data into water area information for display. The first command data is a fixed-format text command starting with "#SIC," used to set parameters for the shore-based remote controller's BeiDou-based unmanned surface vessel (USV) for water area measurements, such as controlling the USV's direction, speed, and the frequency of water area data collection.

[0047] This embodiment establishes a local area network (LAN) by integrating wireless bridge modules into the BeiDou-based unmanned surface vessel (USV), hovering drone, and shore-based remote controller. This LAN enables communication between the three. The hovering drone forwards command data from the shore-based remote controller to the USV via the LAN, extending the USV's operating distance and range. Even with obstacles or interference between the shore-based remote controller and the USV, wireless communication between the remote controller, drone, and USV remains unaffected. The hovering drone transmits the first differential data downloaded to the USV via the LAN. When the USV lacks 4G network access and cannot obtain differential data, the differential data can be transmitted from the hovering drone to the USV, preventing the USV from being unable to receive differential data and thus failing to navigate the planned measurement route when entering 4G signal blind spots.

[0048] It is understood that the above system item embodiments correspond to the method item embodiments of the present invention, and can implement the Beidou measurement unmanned vessel control method based on hovering UAV provided by any of the above method item embodiments of the present invention.

[0049] It should be noted that the system embodiments described above are merely illustrative, and some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, in the accompanying drawings of the system embodiments provided by this invention, the connection relationships between modules indicate that they have communication connections, which can be specifically implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement this without any creative effort.

[0050] For ease of description and brevity, the system embodiments of the present invention include all the implementation methods described in the above embodiments of the Beidou measurement unmanned vessel control method based on hovering UAVs, and will not be repeated here.

[0051] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A control method for a BeiDou-based unmanned surface vessel for surveying, characterized in that, include: Receives first command data sent by the shore remote controller via a local area network; wherein, the local area network is composed of wireless bridge modules built into the shore remote controller, the hovering UAV, and the Beidou measurement unmanned vessel respectively; The first command data is forwarded to the Beidou measurement unmanned vessel via a local area network, so that the Beidou measurement unmanned vessel can complete the navigation parameter settings and collect water data according to the first command data. During the data acquisition process, the downloaded first differential data is transmitted to the Beidou measurement unmanned vessel via a local area network, so that the Beidou measurement unmanned vessel can adjust its real-time position during the data acquisition of the water area based on the first differential data.

2. The control method for BeiDou-based unmanned surface vessel for measurement as described in claim 1, characterized in that, The BeiDou-guided unmanned surface vessel adjusts its real-time position during water area data collection based on the first differential data, specifically as follows: The Beidou-based unmanned surface vessel (USV) performs real-time statistical analysis on the first differential data and the second differential data to obtain statistical results. Based on the statistical results, it performs quality analysis on the first differential data and the second differential data to determine the final differential data. The second differential data is obtained by the USV through downloading. The Beidou-guided unmanned surface vessel (USV) determines the position information to be adjusted based on the final differential data, and adjusts the real-time position of the vessel during the water area data collection based on the position information to be adjusted.

3. The control method for BeiDou-based unmanned surface vessel for measurement as described in claim 1, characterized in that, The wireless bridge module includes a first wireless bridge module for a shore-based remote controller, a second wireless bridge module for a hovering drone, and a third wireless bridge module for a Beidou-guided unmanned surface vessel. The first TCP / IP client port is opened based on the first wireless bridge module, the first TCP / IP service port, the second TCP / IP client port and the third TCP / IP client port are opened based on the second wireless bridge module, and the second TCP / IP service port and the third TCP / IP service port are opened based on the third wireless bridge module. The first TCP / IP client port and the first TCP / IP service port are connected to establish a first TCP / IP communication link. The second TCP / IP client port and the second TCP / IP service port are connected to establish a second TCP / IP communication link. The third TCP / IP client port and the third TCP / IP service port are connected to establish a third TCP / IP communication link. The local area network is formed by the three TCP / IP communication links.

4. The control method for BeiDou-based unmanned surface vessel for measurement as described in claim 3, characterized in that, Also includes: The system receives first collected data sent by the third service port of the Beidou surveying unmanned vessel through the third TCPIP communication link via the third client port; wherein, the first collected data is obtained by the Beidou surveying unmanned vessel during data collection in the waters it enters. The first collected data is forwarded to the first client port of the shore remote controller through the first service port of the first TCPIP communication link.

5. The control method for Beidou-based unmanned surface vessel for measurement as described in claim 2, characterized in that, The step of performing quality analysis on the first and second difference data based on statistical results to determine the final difference data is as follows: The Beidou measurement unmanned vessel performs quality analysis on the first differential data and the second differential data based on statistical results. By comparing the difference in the number of bytes between the first differential data and the second differential data within a continuous preset time period with a preset standard value, if the difference in the number of bytes is greater than the preset standard value, the second differential data is taken as the final differential data. Otherwise, the first difference data is used as the final difference data; The final differential data is used to determine the position information to be adjusted through RTK calculation.

6. The control method for BeiDou-based unmanned surface vessel for measurement as described in claim 3, characterized in that, The step of transmitting the downloaded first differential data to the BeiDou measurement unmanned vessel via a local area network includes: Connect to the CORS server via 4G network, download the differential data of the point named MountPointA mounted on the CORS server, and obtain the first differential data; The first differential data is transmitted to the second service port of the Beidou measurement unmanned vessel via the second client port of the second TCPIP communication link.

7. The Beidou-based unmanned surface vessel control method for hovering UAVs as described in claim 4, characterized in that, After forwarding the first collected data to the first client port of the shore remote controller via the first service port of the first TCPIP communication link, the method further includes: The first client port of the shore-based remote controller receives the first collected data, performs data analysis and processing on the first collected data, converts the text data into water area information, and displays it.

8. A Beidou-based unmanned surface vessel control system for hovering drones, characterized in that, include: Shore-based remote controllers, hovering drones, and BeiDou-guided surveying unmanned vessels; The hovering UAV executes the BeiDou-based unmanned surface vessel control method as described in any one of claims 1 to 7.

9. The Beidou-based unmanned surface vessel control system for hovering drones as described in claim 8, characterized in that, The Beidou-based unmanned surface vessel (USV) also includes: a Beidou-based USV wireless bridge communication module, a 4G network module, a Beidou-based USV CPU module, and a Beidou positioning module. The Beidou measurement unmanned vessel wireless bridge communication module is used to receive the first differential data transmitted by the hovering drone. The 4G network module is used to download the second differential data; The CPU module of the Beidou measurement unmanned vessel is used to perform real-time statistics on the first differential data and the second differential data respectively, obtain statistical results, and perform quality analysis on the first differential data and the second differential data based on the statistical results to determine the final differential data. The Beidou positioning module is used to determine the position information to be adjusted based on the final differential data, and to adjust the real-time position of the ship during the water area data collection based on the position information to be adjusted.

10. The Beidou-based unmanned surface vessel control system for hovering drones as described in claim 8, characterized in that, The shore-based remote controller also includes: a shore-based remote controller wireless bridge communication module, a shore-based remote controller CPU module, and an information display module; The onshore remote controller wireless bridge communication module is used to receive the first collected data forwarded by the hovering drone. The onshore remote controller CPU module is used to perform data analysis and processing on the first collected data, converting text data into water information. The information display module is used to display water area information.

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