Four-axis eight-rotor manned unmanned aerial vehicle control method based on ground control station

Abstract

The invention discloses a four-axis eight-rotor manned unmanned aerial vehicle control method based on a ground control station, and the method comprises the following steps: configuring a multi-mode communication receiving unit through the ground control station, and converging flight state data, environment sensing data and airborne system monitoring data uploaded by a four-axis eight-rotor manned unmanned aerial vehicle in real time; the ground control station performs standardized preprocessing and validity verification on the acquired multi-source data and then performs multi-source fusion processing to generate fusion situation data representing the current flight comprehensive situation; a flight control instruction sequence is generated, and the ground control station transmits the flight control instruction sequence passing verification to the unmanned aerial vehicle flight control system and monitors the instruction transmission state in real time. Compared with the prior art, the four-axis eight-rotor manned unmanned aerial vehicle control method based on the ground control station has the advantages that accurate injection of remote instructions and real-time feedback of the flight state are achieved for safety protection.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology for unmanned aerial vehicles (UAVs), specifically to a control method for a quadcopter-octagonal manned UAV based on a ground control station. Background Technology

[0002] With the rapid development of the low-altitude economy, quadcopter configurations have become an important choice for manned aircraft due to their redundant power layout, high safety and good hovering performance.

[0003] However, existing ground control technologies still have significant shortcomings. Most existing UAVs rely on onboard flight control systems for autonomous operation and lack a real-time control mechanism that can efficiently coordinate with ground control stations (GCS). In particular, in scenarios such as emergency takeover, complex airspace scheduling, and high-precision trajectory guidance, there are problems such as response lag and inefficient switching of control authority. In addition, traditional ground stations are mostly used for monitoring and are difficult to achieve full-state closed-loop intervention for manned UAVs. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the above-mentioned technical defects and provide a control method for a quadcopter manned unmanned aerial vehicle based on a ground control station, which realizes accurate remote command injection and real-time flight status feedback for safety protection.

[0005] To solve the above-mentioned technical problems, the technical solution provided by the present invention is: a control method for a quadcopter octocopter manned unmanned aerial vehicle based on a ground control station, comprising the following steps:

[0006] S1: Configure a multi-mode communication receiving unit through the ground control station to collect flight status data, environmental perception data and airborne system monitoring data uploaded by the quadcopter manned UAV in real time;

[0007] S2: After performing standardized preprocessing and validity verification on the acquired multi-source data, the ground control station performs multi-source fusion processing to generate fused situation data that characterizes the current comprehensive flight situation;

[0008] S3: Based on fused situational data, preset flight mission plans and dynamic safety constraints, the ground control station performs dynamic flight risk assessment and trajectory feasibility analysis, and outputs risk level determination results and trajectory optimization suggestions.

[0009] S4: Based on the risk level assessment results and trajectory optimization suggestions, generate a flight control command sequence and perform safety boundary verification, logical consistency verification and dual-channel redundancy verification on the command sequence;

[0010] S5: The ground control station transmits the verified flight control command sequence to the UAV flight control system and monitors the command transmission status in real time;

[0011] S6: The ground control station receives instruction execution feedback data returned by the flight control system, performs control deviation analysis and adaptive parameter adjustment based on the feedback data, and forms closed-loop control.

[0012] Preferably, the environmental perception data includes data collected and uploaded by fusion of airborne visual sensors, millimeter-wave radar, and lidar;

[0013] The ground control station provides remote diagnostics and calibration prompts for the quality of the sensed data.

[0014] Preferably, the dynamic safety constraints include electronic geofence, meteorological thresholds, passenger comfort parameters, and power margin indicators;

[0015] The ground control station configures and updates dynamic safety constraints in real time based on a human-computer interaction interface.

[0016] Preferably, the transmission command sequence is based on a primary and backup redundant communication link, including a satellite communication link and a ground data link;

[0017] The ground control station achieves seamless switching at the millisecond level based on link quality monitoring results, and embeds anti-interference encryption and command integrity verification mechanisms.

[0018] Preferably, in step S6, when the ground control station detects an excessive execution deviation, an abnormal communication link, or a system health status alarm, it automatically triggers a tiered emergency control strategy and simultaneously generates visual alarms, handling guidance, and manual intervention confirmation options on the human-machine interface.

[0019] Preferably, the graded emergency control strategy includes at least one of command retransmission and fine-tuning, trajectory smoothing and replanning, autonomous return to home, safe hovering, and controlled landing;

[0020] The manual intervention confirmation option includes the operator confirming the strategy, adjusting parameters, and taking over control through the human-machine interface of the ground control station.

[0021] Preferably, a two-way security verification mechanism is also established between the ground control station and the UAV flight control system;

[0022] The two-way security verification mechanism includes instruction digital signature verification, feedback receipt confirmation, and operation log storage.

[0023] Preferably, the multi-source fusion processing in S2 adopts a hierarchical fusion architecture, which sequentially performs feature-level fusion to generate a local environment model and combines task-level information to perform decision-level fusion.

[0024] Preferably, the ground control station in S1 further includes performing timestamp alignment and spatiotemporal reference unification processing on the uploaded multi-source data.

[0025] The advantages of this invention compared to the prior art are:

[0026] This invention establishes the ground control station as the core decision-making center for manned flight. Through spatiotemporal alignment, validity verification, and hierarchical fusion of multi-source heterogeneous data, a highly reliable comprehensive flight situation is constructed. Based on this situation, combined with dynamically configurable safety constraints, dynamic risk assessment, trajectory optimization, and highly reliable command generation are achieved.

[0027] This invention supports digital signatures for commands, feedback receipts, and traceable operation logs throughout the entire process, significantly improving the safety, reliability, and human-machine collaboration of quadcopter manned drones in urban airspace. Attached Figure Description

[0028] Figure 1 This is a flowchart illustrating the control method for a quadcopter manned unmanned aerial vehicle based on a ground control station. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings.

[0030] Combined with appendix Figure 1 As shown, the control method for a quadcopter manned UAV based on a ground control station includes the following steps: S1: Configure a multi-mode communication receiving unit through the ground control station to collect flight status data, environmental perception data and airborne system monitoring data uploaded by the quadcopter manned UAV in real time;

[0031] S2: The ground control station performs standardized preprocessing and validity verification on the acquired multi-source data, and then performs multi-source fusion processing to generate fused situational data that represents the current comprehensive flight situation; S3: Based on the fused situational data, preset flight mission planning and dynamic safety constraints, the ground control station performs dynamic flight risk assessment and trajectory feasibility analysis, and outputs risk level determination results and trajectory optimization suggestions; S4: Based on the risk level determination results and trajectory optimization suggestions, a flight control command sequence is generated, and safety boundary verification, logical consistency verification and dual-channel redundancy verification are performed on the command sequence;

[0032] S5: The ground control station transmits the verified flight control command sequence to the UAV flight control system and monitors the command transmission status in real time; S6: The ground control station receives the command execution feedback data returned by the flight control system, performs control deviation analysis and parameter adaptive adjustment based on the feedback data, and forms a closed-loop control.

[0033] During the operation of this invention, the ground control station integrates 5G, satellite and microwave data links through a multi-mode communication receiving unit to collect flight status, environmental perception and airborne system health data from the UAV in real time.

[0034] To address the issues of temporal asynchrony and coordinate system differences in multi-source heterogeneous data, the ground control station performs timestamp alignment and unified geographic benchmark conversion at the receiving end to ensure consistency in subsequent processing. Subsequently, through standardized preprocessing, multi-dimensional validity verification, and a hierarchical fusion architecture, a local environment model is constructed based on feature-level fusion, and then decision-level fusion is performed in conjunction with task information to generate high-confidence comprehensive situational data that includes elements such as pose, obstacle distribution, meteorological disturbances, and system redundancy.

[0035] Based on the above situation, the ground control station, in conjunction with dynamically updated safety constraints such as electronic fences, meteorological thresholds, comfort indicators, and power redundancy, conducts flight risk assessments and trajectory feasibility analyses, and generates control commands that have undergone safety boundary verification, logical consistency verification, and dual-channel redundancy verification.

[0036] Commands are issued through primary and backup redundant links, supporting millisecond-level seamless switching and anti-interference encrypted transmission. After the flight control system executes the commands, it returns feedback, and the ground station uses this feedback to perform deviation analysis and adaptive parameter adjustment to form a closed-loop control.

[0037] Once an anomaly is detected, a tiered emergency response strategy, such as replanning, return to base, or controlled landing, is immediately triggered. Visual alarms, handling guidance, and manual confirmation options are simultaneously presented on the human-machine interface, realizing a collaborative mechanism of intelligent decision-making and human-in-the-loop.

[0038] This invention not only improves the fusion accuracy and situational reliability of multi-source sensing data, but also comprehensively ensures flight safety through end-to-end security verification, two-way digital signature verification, and full traceability of operation logs.

[0039] The flexible human-machine collaboration design in this invention allows operators to intervene in decision-making at critical nodes, which not only meets the requirements of high automation, but also ensures clear responsibilities and timely response, making it particularly suitable for urban air traffic scenarios with stringent safety requirements.

[0040] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0041] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0042] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. A control method for a quadcopter-8-rotor manned unmanned aerial vehicle based on a ground control station, characterized in that: Includes the following steps: S1: Configure a multi-mode communication receiving unit through the ground control station to collect flight status data, environmental perception data and airborne system monitoring data uploaded by the quadcopter manned UAV in real time; S2: After performing standardized preprocessing and validity verification on the acquired multi-source data, the ground control station performs multi-source fusion processing to generate fused situation data that characterizes the current comprehensive flight situation; S3: Based on fused situational data, preset flight mission plans and dynamic safety constraints, the ground control station performs dynamic flight risk assessment and trajectory feasibility analysis, and outputs risk level determination results and trajectory optimization suggestions. S4: Based on the risk level assessment results and trajectory optimization suggestions, generate a flight control command sequence and perform safety boundary verification, logical consistency verification and dual-channel redundancy verification on the command sequence; S5: The ground control station transmits the verified flight control command sequence to the UAV flight control system and monitors the command transmission status in real time; S6: The ground control station receives instruction execution feedback data returned by the flight control system, performs control deviation analysis and adaptive parameter adjustment based on the feedback data, and forms closed-loop control.

2. The control method for a quadcopter-8-rotor manned unmanned aerial vehicle based on a ground control station according to claim 1, characterized in that: The environmental perception data includes data collected and uploaded by airborne visual sensors, millimeter-wave radar, and lidar. The ground control station provides remote diagnostics and calibration prompts for the quality of the sensed data.

3. The control method for a quadcopter-8-rotor manned unmanned aerial vehicle based on a ground control station according to claim 1, characterized in that: The dynamic safety constraints include electronic geofence, meteorological thresholds, passenger comfort parameters, and power redundancy indicators. The ground control station configures and updates dynamic safety constraints in real time based on a human-computer interaction interface.

4. The control method for a quadcopter-8-rotor manned unmanned aerial vehicle based on a ground control station according to claim 1, characterized in that: The transmission command sequence is based on primary and backup redundant communication links, including satellite communication links and ground data links; The ground control station achieves seamless switching at the millisecond level based on link quality monitoring results, and embeds anti-interference encryption and command integrity verification mechanisms.

5. The control method for a quadcopter-8-rotor manned unmanned aerial vehicle based on a ground control station according to claim 1, characterized in that: In S6, when the ground control station detects an excessive execution deviation, abnormal communication link, or system health status alarm, it automatically triggers a graded emergency control strategy and simultaneously generates visual alarms, handling guidance, and manual intervention confirmation options on the human-machine interface.

6. The control method for a quadcopter-8-rotor manned unmanned aerial vehicle based on a ground control station according to claim 1, characterized in that: The tiered emergency control strategy includes at least one of the following: command re-issuance and fine-tuning, trajectory smoothing and replanning, autonomous return to home, safe hovering, and controlled landing. The manual intervention confirmation option includes the operator confirming the strategy, adjusting parameters, and taking over control through the human-machine interface of the ground control station.

7. The control method for a quadcopter-8-rotor manned unmanned aerial vehicle based on a ground control station according to claim 1, characterized in that: A two-way security verification mechanism is also established between the ground control station and the UAV flight control system; The two-way security verification mechanism includes instruction digital signature verification, feedback receipt confirmation, and operation log storage.

8. The control method for a quadcopter-8-rotor manned unmanned aerial vehicle based on a ground control station according to claim 1, characterized in that: The multi-source fusion processing in S2 adopts a hierarchical fusion architecture, which sequentially performs feature-level fusion to generate a local environment model and combines task-level information to perform decision-level fusion.

9. The control method for a quadcopter-8-rotor manned unmanned aerial vehicle based on a ground control station according to claim 1, characterized in that: The ground control station in S1 also includes performing timestamp alignment and spatiotemporal reference unification processing on the uploaded multi-source data.

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