A drone data transmission and control system and method

Abstract

The application relates to a kind of unmanned aerial vehicle data transmission and control system, belong to unmanned aerial vehicle communication and control technical field, a kind of unmanned aerial vehicle data transmission and control system, unmanned aerial vehicle platform is used to obtain the original data of unmanned aerial vehicle, and based on the link state of itself selection mode, including airborne reporting and ground reporting two working modes;Under the airborne reporting mode, the state data generated by unmanned aerial vehicle platform is sent to the management and control cloud platform through the MQTT server, and the general control instruction issued by it is converted into special control instruction;Under the ground reporting mode, the original data of unmanned aerial vehicle platform is forwarded to the MQTT server through the ground station, and the remote control instruction generated by the management and control cloud platform is forwarded to the unmanned aerial vehicle platform through the ground station for execution.The application solves the problem that the existing technology cannot report state data to the management and control platform and receive remote control instruction due to the failure of single communication link in remote areas or complex environment.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) communication and control technology, and in particular to a UAV data transmission and control system and method. Background Technology

[0002] With the rapid development of the low-altitude economy, drones are increasingly being used in logistics, emergency rescue, agricultural plant protection, and environmental monitoring, placing higher demands on the orderly management and precise monitoring of drone flight activities. As the core monitoring tool for drone operations, the control platform needs to acquire drone status data in real time and issue control commands to ensure flight safety and mission execution. Currently, data interaction between drones and the control platform mainly relies on 4G / 5G mobile communication networks, uploading status data to the cloud platform via onboard communication equipment and simultaneously receiving remote control commands.

[0003] In implementing the embodiments of the present invention, the prior art has at least the following problems or defects: Existing UAV reporting and control systems generally adopt a single 4G / 5G communication method. In remote mountainous areas, oceans, deserts and other areas without network coverage, UAVs cannot establish an effective connection with the control platform, resulting in the inability to report status data and issue control commands, creating blind spots in flight monitoring; at the same time, the existing system lacks an adaptive switching mechanism for communication links. When the primary link fails, it cannot automatically activate the backup communication method, which seriously affects the operational safety and control continuity of UAVs in complex environments. Summary of the Invention

[0004] Based on the above analysis, the embodiments of the present invention aim to provide a UAV data transmission and control system and method to solve the problem that existing UAVs are unable to report status data to the management and control platform and receive remote control commands due to the failure of a single communication link in remote areas or complex environments.

[0005] On one hand, embodiments of the present invention provide a UAV data transmission and control system, the system including a UAV platform, a management and control cloud platform, a ground station and an MQTT server; the system is configured to support two working modes: airborne reporting and ground reporting; The UAV platform, MQTT server, and control cloud platform together form an airborne reporting subsystem; the UAV platform, ground station, MQTT server, and control cloud platform together form a ground reporting subsystem.

[0006] Furthermore, the unmanned aerial vehicle platform includes a communication convergence terminal and an onboard computer; A communication convergence terminal is used to send the received status data to the MQTT server, and to receive general control commands sent by the MQTT server and send the general control commands to the airborne computer. The onboard computer is configured to receive raw data, parse the raw data according to the UAV data protocol, generate status data based on the management and control cloud platform data protocol, and send the status data to the communication fusion terminal; and receive general control commands from the communication fusion terminal or remote control commands from the ground station, parse the general control commands or remote control commands according to the management and control cloud platform data protocol, generate dedicated control commands based on the UAV control protocol, and send the dedicated control commands to the UAV control terminal.

[0007] Furthermore, the communication convergence terminal integrates multiple different communication units, including a mobile communication unit, a satellite communication unit, an ad hoc network link unit, and an ADS-B unit; the mobile communication unit and the satellite communication unit are used to receive status data sent by the airborne computer and send the status data to the MQTT server, as well as to receive general control commands sent by the MQTT server and send the general control commands to the airborne computer; The self-organizing network link unit is used to receive raw data sent by the airborne computer and send the raw data to the ground station, as well as remote control commands sent by the ground station and send the remote control commands to the airborne computer. The ADS-B unit is used to encapsulate the raw data according to the ADS-B protocol and broadcast it to other aircraft or ground-based ADS-B receiving equipment in the airspace.

[0008] Furthermore, it also includes an HTTP server, which is used to receive log files sent by the UAV platform in airborne reporting mode and send the log files to the control cloud platform for storage; and to receive log files sent by the ground station in ground reporting mode and send the log files to the control cloud platform for storage.

[0009] Furthermore, the airborne computer also includes: The data processing module is used to receive the raw data, parse the raw data according to the UAV data protocol, and generate the status data based on the management and control cloud platform data protocol; and to receive the general control command or remote control command, parse it according to the management and control cloud platform data protocol, and generate the special control command based on the UAV control protocol. The MQTT client module is used to send the general status data generated by the data processing module to the communication convergence terminal, and to subscribe to and obtain the general control commands issued by the management and control cloud platform through the communication convergence terminal.

[0010] Furthermore, the airborne computer also includes a link selection module; The link selection module is used to monitor the link status between the mobile communication unit and the satellite communication unit, and select an operating mode based on the link status; wherein, selecting an operating mode based on the link status includes: When the signal quality of the mobile communication unit is greater than or equal to the mobile signal quality threshold, the airborne reporting mode is selected, and the mobile communication unit communicates with the MQTT server; when the signal quality of the mobile communication unit is less than the mobile signal quality threshold and the signal quality of the satellite communication unit is greater than or equal to the satellite signal quality threshold, the airborne reporting mode is selected, and the satellite communication unit communicates with the MQTT server. When the signal quality of the mobile communication unit is less than the mobile signal quality threshold and the signal quality of the satellite communication unit is less than the satellite signal quality threshold, the ground reporting mode is selected, and communication with the ground station is carried out through the self-organizing network link unit.

[0011] Furthermore, the airborne computer also includes an HTTP client module and a log management module; The airborne computer also includes an HTTP client module and a log management module; The HTTP client module is used to establish a connection with the HTTP server through the communication fusion terminal and upload locally stored log files to the HTTP server. The log management module is used to generate log files and send them to the HTTP client module.

[0012] Furthermore, the link selection module is also used to obtain the real-time bandwidth of the mobile communication unit; when the bandwidth is lower than a first bandwidth threshold and greater than or equal to a second bandwidth threshold, a first control instruction is generated to control the HTTP client module to pause uploading log files; when the bandwidth is lower than the second bandwidth threshold, a second control instruction is generated to control the MQTT client module to reduce the frequency of publishing the status data.

[0013] Furthermore, the system is also configured as follows: In airborne reporting mode, the control cloud platform sends a first heartbeat command to the UAV platform via an MQTT server; after receiving the first heartbeat command, the UAV platform identifies the general control command sent by the control cloud platform as a valid control command and generates a special control command based on the general control command. In ground reporting mode, the ground station sends a second heartbeat command to the UAV platform via a self-organizing network link; after receiving the second heartbeat command, the UAV platform identifies the remote control command forwarded by the ground station as a valid control command and generates a dedicated control command based on the remote control command.

[0014] On the other hand, embodiments of the present invention provide a method for transmitting and controlling data from and controlling unmanned aerial vehicles (UAVs), applied to the system, comprising: In airborne reporting mode, the UAV platform acquires raw data, generates status data based on the raw data, and sends the status data to the MQTT server; the management and control cloud platform acquires the status data from the MQTT server, generates general control commands based on the status data, and sends them to the MQTT server; the UAV platform receives the general control commands from the MQTT server and generates special control commands based on the general control commands. In ground reporting mode, the UAV platform sends raw data to the ground station; the ground station sends the raw data to the MQTT server; the control cloud platform obtains the raw data from the MQTT server and generates remote control commands based on the raw data, which are then sent to the MQTT server; the ground station receives the remote control commands from the MQTT server and sends them to the UAV platform, which then generates dedicated control commands based on the remote control commands.

[0015] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects: 1. This invention is configured with airborne reporting mode and ground reporting mode. When the quality of the mobile communication link deteriorates or becomes unavailable, it automatically switches to ground reporting mode and uses ground stations for data relay forwarding. This constructs a communication architecture with dual-link redundancy of airborne direct connection and ground relay, avoiding the problem of status data not being able to be reported and control commands not being able to be issued due to the failure of a single communication link.

[0016] 2. This invention sets up an MQTT server as a unified message relay node. In airborne reporting mode, it receives status data and forwards general control commands; in ground reporting mode, it receives raw data and forwards remote control commands. The management cloud platform only interacts with the MQTT server to complete status monitoring and command issuance in both working modes, which reduces the complexity of system integration and improves the scalability and compatibility of the platform.

[0017] 3. This invention constructs a multi-channel redundant communication architecture by integrating a mobile communication unit, a satellite communication unit, a self-organizing network link unit, and an ADS-B unit into a communication fusion terminal. When the UAV's mobile communication link fails (such as when flying to an area without mobile communication signal or failing for other reasons), it can automatically switch to the satellite communication unit or the self-organizing network link unit to maintain data interaction with the control platform. This eliminates the problem of data transmission interruption caused by the failure of a single communication method and improves the communication reliability and flight safety of UAVs in complex geographical environments.

[0018] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0019] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts. Figure 1 is a schematic diagram of a UAV data transmission and control system according to an embodiment of the present invention. Detailed Implementation

[0020] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0021] A specific embodiment of the present invention discloses a data transmission and control system for unmanned aerial vehicles (UAVs), such as... Figure 1 As shown.

[0022] The system includes a drone platform, a control cloud platform, a ground station, an MQTT server, and an HTTP server; the system is configured to support two working modes: airborne reporting and ground reporting; the drone platform, the MQTT server, and the control cloud platform constitute the airborne reporting subsystem; the drone platform, the ground station, the MQTT server, and the control cloud platform constitute the ground reporting subsystem.

[0023] The airborne reporting subsystem is used to directly report UAV status data and issue general control commands when the mobile communication link is available. The UAV platform interacts directly with the MQTT server to report status data to the management and control cloud platform and receive the general control commands issued by it. The ground reporting subsystem is used to send raw data to the ground station through the self-organizing network link of the UAV platform when the mobile communication link is unavailable. The ground station then relays the data with the management and control cloud platform and forwards remote control commands via the MQTT server.

[0024] Specifically, the control cloud platform is a backend service system deployed in a cloud data center, used for monitoring the status of drones, issuing commands, and storing logs. The ground station refers to the drone control terminal deployed on the ground, usually carried by the pilot or fixed in a command vehicle, used to monitor and control drones within visual range.

[0025] An MQTT server is a message broker server based on the MQTT protocol. It typically acts as a relay for publish-subscribe messages, receiving messages published by all clients and distributing them to all clients subscribed to that topic according to the message subject.

[0026] The HTTP server is used in airborne reporting mode to receive log files sent by the UAV platform and send them to the control cloud platform for storage; in ground reporting mode, it receives log files sent by the ground station and sends them to the control cloud platform for storage. The HTTP server is a file receiving server based on the Hypertext Transfer Protocol, deployed in the cloud, receiving log files uploaded from the UAV platform or ground station, persistently storing the log files, and providing a file access interface for the control cloud platform to use.

[0027] A communication convergence terminal is used to send the received status data to the MQTT server, and to receive general control commands sent by the MQTT server and send the general control commands to the airborne computer. The communication convergence terminal integrates multiple different communication units, including a mobile communication unit, a satellite communication unit, a self-organizing network link unit, and an ADS-B unit. The mobile communication unit and the satellite communication unit are used to receive status data sent by the airborne computer and send the status data to the MQTT server, as well as to receive general control commands sent by the MQTT server and send the general control commands to the airborne computer.

[0028] The mobile communication unit can use industrial-grade 4G or 5G modules, enabling access to public terrestrial mobile networks. The satellite communication unit can use dedicated low-Earth orbit or high-Earth orbit satellite communication equipment, including airborne satellite communication antennas and modems.

[0029] The self-organizing network link unit is used to receive raw data sent by the airborne computer and send the raw data to the ground station, as well as remote control commands sent by the ground station and send the remote control commands to the airborne computer.

[0030] The self-organizing network link unit adopts wireless mesh network technology, supports point-to-point and multi-hop relay communication modes, and is used to establish a dedicated data link with the ground station to transmit the UAV's raw data and remote control commands.

[0031] The ADS-B unit is used to encapsulate the raw data according to the ADS-B protocol and broadcast it to other aircraft or ground-based ADS-B receiving equipment in the airspace.

[0032] The ADS-B unit only has broadcast transmission capabilities and lacks receiving capabilities. The onboard computer encapsulates the UAV's status data via an RS232 serial port according to the ICAO DO-260B standard protocol, generating data frames conforming to the ADS-B OUT message format, including ICAO 24-bit address code, latitude and longitude, barometric altitude, velocity vector, and other information. The ADS-B unit broadcasts this data via its antenna, allowing other aircraft in the airspace, ground air traffic control radar stations, or regulatory ADS-B receiving equipment to obtain the UAV's real-time flight status, thus meeting the requirements for collaborative surveillance and safety supervision in low-altitude airspace.

[0033] A drone platform is a combination of airborne equipment deployed on the drone itself. It can be an integrated avionics computer, including an onboard computer and a communication convergence terminal.

[0034] An airborne computer is used to receive raw data, parse the raw data according to the UAV data protocol, generate the status data based on the management and control cloud platform data protocol, and send the status data to the communication fusion terminal; and to receive general control commands or remote control commands from the communication fusion terminal or the ground station, parse the general control commands or remote control commands according to the management and control cloud platform data protocol, generate special control commands based on the UAV control protocol, and send the special control commands to the UAV control terminal.

[0035] Raw data consists of the drone's original flight parameters output according to its manufacturer-defined non-standard interface protocols, such as latitude and longitude, altitude, speed, heading angle, attitude angle, remaining battery power, and mission equipment status. Status data is standardized data packets that the onboard computer parses from the raw data and repackages according to a predefined general data exchange protocol of the control cloud platform. These packets can be in JSON or XML format and include fields such as device identifier, timestamp, and data item key-value pairs, facilitating direct parsing and storage by the cloud platform. To accommodate drones with different interface types, the onboard computer is equipped with multiple physical interfaces, including Ethernet ports, RS232 serial ports, RS422 serial ports, and USB interfaces, enabling data exchange with different models of flight control computers or interface computers.

[0036] Furthermore, the airborne computer also includes: The data processing module is used to receive the raw data, parse the raw data according to the UAV data protocol, and generate the status data based on the management and control cloud platform data protocol; and to receive the general control command or remote control command, parse it according to the management and control cloud platform data protocol, and generate the special control command based on the UAV control protocol. The MQTT client module is used to send the general status data generated by the data processing module to the communication convergence terminal, and to subscribe to and obtain the general control commands issued by the management and control cloud platform through the communication convergence terminal.

[0037] During implementation, the onboard computer's data processing module receives raw data output from the UAV flight controller via serial or Ethernet ports. Taking a UAV using the MAVLink protocol as an example, upon receiving a MAVLink data frame, the system performs cyclic redundancy check and field parsing on the binary data stream according to the MAVLink protocol specification, extracting status parameters such as system time, GPS coordinates, attitude quaternions, voltage, and current. Based on the predefined data exchange format standard of the control cloud platform, these field values ​​are filled into a preset JSON template to generate status data, which is then sent to the communication convergence terminal for external transmission.

[0038] When the onboard computer receives a general control command from the communication convergence terminal or a remote control command from the ground station, it deserializes and parses the command according to the general data protocol of the management and control cloud platform to identify the command type and parameters. For example, the general control command is a takeoff command with parameters including a target altitude of 5 meters. The onboard computer queries the currently connected UAV model information, loads the corresponding flight control command mapping table from the local protocol library, converts the general command into a data frame conforming to the private protocol of that flight control model, such as a hexadecimal byte sequence, and sends it to the flight control computer via serial port or network port, thereby completing the remote control of the UAV.

[0039] Furthermore, the airborne computer also includes an HTTP client module and a log management module; The HTTP client module is used to establish a connection with the HTTP server through the communication convergence terminal and upload locally stored log files to the HTTP server; the log management module is used to generate log files and send the log files to the HTTP client module.

[0040] The log management module runs in the background of the onboard computer. It captures and records the raw binary data stream output by the UAV flight control in real time through file system hooks or polling methods. It generates log files according to a preset rolling strategy, such as generating a new file every 30 minutes or 500MB, and uses the flight sequence number and timestamp as the file name. The HTTP client module establishes a text transmission protocol with the HTTP server and uploads log files to the HTTP server through the communication converged terminal.

[0041] Furthermore, the airborne computer also includes a link selection module; The link selection module is used to monitor the link status between the mobile communication unit and the satellite communication unit, and select an operating mode based on the link status; wherein, selecting an operating mode based on the link status includes: When the signal quality of the mobile communication unit is greater than or equal to the mobile signal quality threshold, the airborne reporting mode is selected, and the mobile communication unit communicates with the MQTT server; when the signal quality of the mobile communication unit is less than the mobile signal quality threshold and the signal quality of the satellite communication unit is greater than or equal to the satellite signal quality threshold, the airborne reporting mode is selected, and the satellite communication unit communicates with the MQTT server. When the signal quality of the mobile communication unit is less than the mobile signal quality threshold and the signal quality of the satellite communication unit is less than the satellite signal quality threshold, the ground reporting mode is selected, and communication with the ground station is carried out through the self-organizing network link unit.

[0042] The link selection module obtains the signal strength value of the mobile communication unit by calling the AT command set, for example, by querying the signal strength value using the AT plus CSQ command. It then converts the signal strength value into signal received power and obtains the satellite bit error rate by querying the status register of the satellite communication equipment. The signal quality threshold for the mobile communication unit is set to a reference signal received power of not less than -110 dBm, and the satellite signal quality threshold for the satellite communication unit is set to a bit error rate of not exceeding... .

[0043] When the signal quality of the mobile communication unit is greater than or equal to the mobile signal quality threshold, the airborne reporting mode is selected first, and data interaction with the MQTT server is conducted through the mobile communication unit. When the signal quality of the mobile communication unit is lower than the mobile signal quality threshold, but the signal quality of the satellite communication unit is greater than or equal to its corresponding signal quality threshold, the airborne reporting mode is maintained, but the data communication link is automatically switched to the satellite communication unit to maintain a connection with the MQTT server through the satellite communication link. When the signal quality of both the mobile communication unit and the satellite communication unit is lower than their respective corresponding signal quality thresholds, the airborne reporting mode is determined to be temporarily unavailable, and the system switches to the ground reporting mode. Communication is established with the ground station through the self-organizing network link unit, and the mobile network of the ground station is used to send alarm data to the management and control cloud platform and receive control commands.

[0044] The link selection module is also used to obtain the real-time bandwidth of the mobile communication unit; when the bandwidth is lower than the first bandwidth threshold and greater than or equal to the second bandwidth threshold, a first control instruction is generated to control the HTTP client module to pause uploading log files; when the bandwidth is lower than the second bandwidth threshold, a second control instruction is generated to control the MQTT client module to reduce the frequency of publishing the status data.

[0045] The link selection module obtains the real-time uplink and downlink bandwidth values ​​of the mobile communication unit through its application programming interface (API). For example, in a Linux system, the link selection module reads the ` / proc / net / dev` file, parses the byte count changes of the mobile communication network interface, and calculates the number of bits transmitted per second. The first bandwidth threshold can be set to 1 Mbps, and the second bandwidth threshold can be set to 10 Kbps. When the real-time bandwidth of the mobile communication unit is detected to be lower than the first bandwidth threshold but greater than or equal to the second bandwidth threshold, the current network is in a state of mild congestion. Ongoing or queued HTTP log file upload tasks are suspended, and network bandwidth is prioritized for MQTT status data streams to ensure real-time reporting of flight status. When the real-time bandwidth is lower than the second bandwidth threshold, the current network is in a state of severe congestion. The frequency of status data publication is reduced until the bandwidth recovers to above the second bandwidth threshold, for example, extending the publication cycle from ten times per second to once per second to prevent complete channel blockage and connection interruption.

[0046] In airborne reporting mode, the UAV platform obtains raw data from the UAV control terminal, such as the flight control computer, via serial or Ethernet port. This data is then parsed and converted in real-time to generate JSON-formatted status data conforming to a common protocol. This data is then published to a designated topic on the MQTT server via the MQTT protocol. The management cloud platform subscribes to this topic, generates general control commands, and publishes them to another topic via the MQTT server, while simultaneously sending first heartbeat commands to the UAV platform. The UAV platform subscribes to this topic and receives commands. Based on the first heartbeat command, it recognizes the received general control commands as valid, parses and converts them to generate specific control commands, and then sends them to the flight control unit for execution.

[0047] In ground-based reporting mode, the UAV platform transmits raw data to the ground station in real time via an onboard data link. The ground station receives the raw data via a self-organizing network link, verifies and processes it, and then sends it to the MQTT server via its built-in mobile communication module according to the MQTT protocol. The control cloud platform subscribes to the corresponding topic, obtains the raw data, generates general remote control commands, and sends them to the topic subscribed to by the ground station via the MQTT server. Simultaneously, the ground station continuously sends a second heartbeat command to the UAV platform via the self-organizing network link. After receiving the remote control command, the ground station forwards it to the UAV platform via the ground data link. The UAV platform receives the remote control command, recognizes it as valid based on the second heartbeat command, converts it into a dedicated control command, and sends it to the flight controller for execution.

[0048] Another specific embodiment of the present invention provides a method for transmitting and controlling data from and controlling unmanned aerial vehicles (UAVs), comprising: The drone platform selects its operating mode based on its own link status, and the operating mode includes airborne reporting mode and ground reporting mode. In airborne reporting mode, the UAV platform acquires raw data, generates status data based on the raw data, and sends the status data to the MQTT server; the management and control cloud platform acquires the status data from the MQTT server, generates general control commands based on the status data, and sends them to the MQTT server; the UAV platform receives the general control commands from the MQTT server and generates special control commands based on the general control commands. In ground reporting mode, the UAV platform sends raw data to the ground station; the ground station sends the raw data to the MQTT server; the control cloud platform obtains the raw data from the MQTT server and generates remote control commands based on the raw data, which are then sent to the MQTT server; the ground station receives the remote control commands from the MQTT server and sends them to the UAV platform, which then generates dedicated control commands based on the remote control commands.

[0049] It is understandable that the various steps and references in this UAV data transmission and control system method are... Figure 1 The modules described in the UAV data transmission and control system correspond to those described above. Therefore, the beneficial effects of the UAV data transmission and control system and its included modules described above also apply to the operation and features of the UAV data transmission and control method, which will not be repeated here.

[0050] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0051] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A data transmission and control system for unmanned aerial vehicles (UAVs), characterized in that, The system includes an unmanned aerial vehicle (UAV) platform, a control cloud platform, a ground station, and an MQTT server; the system is configured to support both airborne and ground-based reporting modes. The UAV platform, MQTT server, and control cloud platform together form an airborne reporting subsystem; the UAV platform, ground station, MQTT server, and control cloud platform together form a ground reporting subsystem.

2. The system according to claim 1, characterized in that, The unmanned aerial vehicle platform includes a communication convergence terminal and an onboard computer; The onboard computer is used to receive raw data from the UAV, parse the raw data according to the UAV data protocol, generate status data based on the management and control cloud platform data protocol, and send the status data to the communication fusion terminal; and to receive general control commands from the communication fusion terminal or remote control commands from the ground station, parse the general control commands or remote control commands according to the management and control cloud platform data protocol, generate dedicated control commands based on the UAV control protocol, and send the dedicated control commands to the UAV control terminal; The communication convergence terminal is used to send the received status data to the MQTT server, and to receive general control commands sent by the MQTT server and send the general control commands to the airborne computer.

3. The system according to claim 2, characterized in that, The communication convergence terminal integrates multiple different communication units, including a mobile communication unit, a satellite communication unit, a self-organizing network link unit, and an ADS-B unit; the mobile communication unit and the satellite communication unit are used to receive status data sent by the airborne computer and send the status data to the MQTT server, as well as to receive general control commands sent by the MQTT server and send the general control commands to the airborne computer; The self-organizing network link unit is used to receive raw data sent by the airborne computer and send the raw data to the ground station, as well as to receive remote control commands sent by the ground station and send the remote control commands to the airborne computer. The ADS-B unit is used to encapsulate the raw data according to the ADS-B protocol and broadcast it to other aircraft or ground-based ADS-B receiving equipment in the airspace.

4. The system according to claim 1, characterized in that, The system also includes an HTTP server, which is used to receive log files sent by the UAV platform in airborne reporting mode and send the log files to the control cloud platform for storage; and to receive log files sent by the ground station in ground reporting mode and send the log files to the control cloud platform for storage.

5. The system according to claim 2, characterized in that, The airborne computer also includes: The data processing module is used to receive the raw data, parse the raw data according to the UAV data protocol, and generate the status data based on the management and control cloud platform data protocol; and to receive the general control command or remote control command, parse it according to the management and control cloud platform data protocol, and generate the special control command based on the UAV control protocol. The MQTT client module is used to send the general status data generated by the data processing module to the communication convergence terminal, and to subscribe to and obtain the general control commands issued by the management and control cloud platform through the communication convergence terminal.

6. The system according to claim 2, characterized in that, The airborne computer also includes a link selection module; The link selection module is used to monitor the link status between the mobile communication unit and the satellite communication unit, and select an operating mode based on the link status; wherein, selecting an operating mode based on the link status includes: When the signal quality of the mobile communication unit is greater than or equal to the mobile signal quality threshold, the airborne reporting mode is selected, and the mobile communication unit communicates with the MQTT server; when the signal quality of the mobile communication unit is less than the mobile signal quality threshold and the signal quality of the satellite communication unit is greater than or equal to the satellite signal quality threshold, the airborne reporting mode is selected, and the satellite communication unit communicates with the MQTT server. When the signal quality of the mobile communication unit is less than the mobile signal quality threshold and the signal quality of the satellite communication unit is less than the satellite signal quality threshold, the ground reporting mode is selected, and communication with the ground station is carried out through the self-organizing network link unit.

7. The system according to claim 4, characterized in that, The airborne computer also includes an HTTP client module and a log management module; The HTTP client module is used to establish a connection with the HTTP server through the communication fusion terminal and upload locally stored log files to the HTTP server. The log management module is used to generate log files and send them to the HTTP client module.

8. The system according to claim 7, characterized in that, The link selection module is also used to obtain the real-time bandwidth of the mobile communication unit; when the bandwidth is lower than the first bandwidth threshold and greater than or equal to the second bandwidth threshold, a first control instruction is generated to control the HTTP client module to pause uploading log files; when the bandwidth is lower than the second bandwidth threshold, a second control instruction is generated to control the MQTT client module to reduce the frequency of publishing the status data.

9. The system according to any one of claims 1-8, characterized in that, The system is also configured to: In airborne reporting mode, the control cloud platform sends a first heartbeat command to the UAV platform via an MQTT server; after receiving the first heartbeat command, the UAV platform identifies the general control command sent by the control cloud platform as a valid control command and generates a special control command based on the general control command. In ground reporting mode, the ground station sends a second heartbeat command to the UAV platform via a self-organizing network link; after receiving the second heartbeat command, the UAV platform identifies the remote control command forwarded by the ground station as a valid control command and generates a dedicated control command based on the remote control command.

10. A method for transmitting and controlling data from an unmanned aerial vehicle (UAV), applied to the system as described in any one of claims 1-9, characterized in that, The method includes: The drone platform selects its operating mode based on its own link status, and the operating mode includes airborne reporting mode and ground reporting mode. In airborne reporting mode, the UAV platform acquires raw data, generates status data based on the raw data, and sends the status data to the MQTT server; the management and control cloud platform acquires the status data from the MQTT server, generates general control commands based on the status data, and sends them to the MQTT server; the UAV platform receives the general control commands from the MQTT server and generates special control commands based on the general control commands. In ground reporting mode, the UAV platform sends raw data to the ground station; the ground station sends the raw data to the MQTT server; the control cloud platform obtains the raw data from the MQTT server and generates remote control commands based on the raw data, which are then sent to the MQTT server; the ground station receives the remote control commands from the MQTT server and sends them to the UAV platform, which then generates dedicated control commands based on the remote control commands.

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