A portable command and control method and system for a loitering munition

Abstract

This invention discloses a portable command and control method and system for patrol drones. It acquires drone status and mission commands by establishing a data link, automatically performs mission pre-planning and simulation, executes drone self-checks and operational control, and triggers control handover upon the drone entering the cruise phase. The system integrates a portable computing terminal, communication radio components, data link terminal, and power supply unit into a portable storage unit, achieving high mobility and continuous operation capability, thus solving the problems of poor mobility and slow deployment in traditional systems.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a portable command and control method and system for patrol drones. Background Technology

[0002] With the transformation of mission scenarios and the rapid development of technology, mission methods centered on drone platforms have shifted to a more holistic approach. Systemic collaboration is crucial. Therefore, high-value, long-endurance reconnaissance and strike UAVs have gradually shifted from a leading role to a peripheral one. New types of equipment, such as low-cost, expendable, and swarm-based UAVs, are rapidly developing. Low-cost, expendable UAVs can be deployed on a large scale, and their strike capabilities vary depending on their payloads, resulting in lower operational costs. UAVs can be flexibly configured according to the actual mission. Therefore, the formation of large-scale heterogeneous loitering attack UAVs is a trend.

[0003] Conventional loitering drone operations primarily rely on ground control vehicles and launch vehicles. The launch vehicle is the main unit responsible for performing launch functions. The number of drones launched is the same as the number of launch containers. The ground control vehicle is used for pre-launch operational planning and launch control of the drones. After launch, it can change the mission of the drones via data link, and simultaneously display the battlefield situation of multiple drone reconnaissance missions, completing the closed loop of subsequent strike missions.

[0004] Generally, unmanned aerial vehicle (UAV) systems are equipped with more launch vehicles than ground control vehicles. The UAVs are already mounted on the launch vehicle before deployment. The launch container of the vehicle completes the deployment of the launch vehicle and ground control vehicle at the pre-selected launch site. After the UAV is launched, the ground control vehicle remains in the area for subsequent monitoring. The mission ends after multiple launch vehicles have launched all the UAVs in their launch containers.

[0005] As subsequent scenarios become increasingly diverse and complex, conventional fixed launch sites may present uncertainties in practical use. Once a drone is launched from the launch vehicle, it cannot launch another drone, making it impossible to meet subsequent continuous launch missions. It needs to return to the base to reload the drone and then travel to the location of the ground control vehicle for subsequent launch control.

[0006] Therefore, to adapt to the flexibility of mission sites and the suddenness and dispersion of missions, a command and control system that meets the requirements of cluster use is needed. This system should be deployed and moved together with the launch vehicle to meet the requirements of rapid command and control. The command and control includes launch control, intelligence sharing with higher authorities, and subsequent command and control of UAVs. Summary of the Invention

[0007] The main objective of this invention is to provide a portable command and control method and system for patrol drones, aiming to solve the problems of poor mobility, inflexible deployment, and difficulty in supporting continuous wave operations in the existing drone management system.

[0008] To achieve the above objectives, the present invention provides a portable command and control method for a loitering drone, comprising: Establish data links with mobile operation platforms and external communication nodes to obtain UAV status data and mission command information; Based on the task instruction information, automatic task pre-planning is performed to generate a task planning scheme. The inference algorithm is called to simulate and infer the task planning scheme, and the inference conclusions of task success rate and time consumption are output. In response to the confirmation operation of the deduction conclusion, the mission planning data is sent to the UAV for binding, and the UAV self-check and operation control logic is executed. The system monitors the drone's flight status in real time. When the drone is determined to have entered a preset cruise phase, it triggers a control handover process, transferring control of the drone from the local area to the remote management center and releasing local communication resources.

[0009] Optionally, the triggering control permission handover process includes: Generate an exchange request message and send it to the remote management center. The exchange request message contains the UAV's current geographic coordinates and communication frequency band parameters. Receive connection confirmation instructions from the remote management center and verify identity and permissions; After successful verification, disconnect the control link between the local machine and the drone to complete the transfer of permissions.

[0010] Optionally, it includes: Receives drone telemetry data and video streams forwarded by the remote management center; In response to a user's takeover request, request control permissions from the remote management center; After obtaining authorization, the mission flight path is reconstructed locally, and the updated flight path control commands are sent to the drone.

[0011] After obtaining authorization, the mission flight path is reconstructed locally, and the updated flight path control commands are sent to the drone.

[0012] Optionally, it also includes: Receive video stream data transmitted back by the drone and extract key frames to reconstruct a 3D scene. Based on user operation instructions, images of the reconstructed scene are captured and associated with textual description information to generate a structured observation report; The structured observation report is encapsulated into a data packet and sent to other associated communication nodes.

[0013] Optionally, the output of the inference algorithm may also include: Target area coverage, flight path conflict detection results, and projected energy consumption rate.

[0014] To achieve the above objectives, this application also provides a command and control system for a loitering drone, the system being configured to perform the methods described above, the system comprising: A portable computing terminal, as the core processing unit, includes a processor and memory; Communication radio components for remote communication; Data link terminal, used for communication with drones; Portable power supply unit for providing electrical energy; Portable storage unit for housing portable computing terminals, communication radio components, data link terminals and portable power supply units; The communication radio component establishes a two-way signal connection with the portable computing terminal through the first data interface, which is used to obtain task instruction information and send requests for control permissions. The data link terminal establishes a bidirectional signal connection with the portable computing terminal through the second data interface, which is used to send mission planning data and monitor the flight status of the UAV. The portable power supply unit is electrically connected to the portable computing terminal, the communication radio component, and the data link terminal via power lines, forming a power supply circuit. In non-working mode, the portable computing terminal, communication radio component, data link terminal and portable power supply unit are all stored and fixed inside the portable storage unit.

[0015] Optionally, the portable computing terminal is also equipped with an external expansion interface; The portable computing terminal is connected to the control interface of the mobile transmission platform via a signal cable through the external expansion interface; The portable computing terminal is configured to receive launch platform status data through the external expansion interface and send ignition and launch control signals to the launch platform.

[0016] Optionally, the portable computing terminal is a dual-screen ruggedized computer; The dual-screen ruggedized computer includes an upper display screen, a lower display screen, and a physical control panel located on one side of the lower display screen; The upper display screen is configured to display the received structured observation report and the received situation information; The lower display screen is configured to display the simulation report and task planning interface; The physical control panel is connected to the processor via an internal bus and is used to provide hard switch inputs.

[0017] Optionally, the physical control panel integrates: The system start function key is used to trigger the drone engine start logic; Batch fire key, used to trigger the generation of sequential fire commands; Several bit selection keys are used to select different locations of the drone on the mobile launch platform; The physical control panel is configured to assist in executing the launch control logic of claim 1.

[0018] Optionally, the data link terminal includes: A directional antenna used for transmitting and receiving wireless radio frequency signals; The antenna support is mechanically connected to the bottom of the directional antenna; The data conversion unit has its radio frequency end connected to the directional antenna via a feed line, and its data end connected to the portable computing terminal via the second data interface. The data conversion unit is configured to convert the received radio frequency signal into a digital signal and transmit it to a portable computing terminal to receive telemetry data and video streams.

[0019] The present invention proposes a command and control method, device, medium and equipment for loitering drones. By integrating a computing terminal, radio, link and power supply into a portable storage unit, it achieves high mobility and rapid deployment. It solves the problems of poor mobility, inflexible deployment and difficulty in supporting continuous wave operations in the prior art of drone command and control systems, and realizes the flexible command and control capability of "launch and go" and the continuity of multi-wave strikes. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the portable remote management system of the present invention; Figure 2 This is a schematic diagram of the hardware device model of the present invention; Figure 3 This is a schematic diagram of the layout of the remote management software for monitoring equipment according to the present invention; Figure 4 This is a diagram showing the device connection for the operation control mode of this invention; Figure 5 This is a deployment diagram of the drone monitoring mode equipment of the present invention; Figure 6 This is a flowchart illustrating the interaction process of the node monitoring mode in this invention. Figure 7 This is a schematic diagram of the button layout of the physical control panel of the present invention; Figure 8 This is a sequence diagram of the authorization handover process for this invention.

[0021] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0022] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0023] The purpose of this invention is to propose a scalable launch and command and control system and method for heterogeneous loitering multi-UAVs, enabling mixed command and control and launch control of UAVs of the same type under different mission payloads after UAV iterative upgrades. Through hardware layout and software design, a mixed command and control and launch system is implemented to meet the command and control and mixed launch control needs of heterogeneous UAVs. Transmission rules are established to improve the autonomy of multi-UAV cluster launch control. Simultaneously, relying on a scalable software architecture, a universal protocol is developed to address issues such as different data transmission protocols, monitoring data and status, and different user interfaces among heterogeneous UAVs at different stages. Control, planning, and other functions are loaded in a plug-in manner to meet the compatible control and launch needs of multiple UAV types.

[0024] The main solution of this invention is to address the problems of poor mobility, slow deployment, high resource coupling, and inability to conduct continuous operations caused by the reliance on ground control vehicles in existing patrol drone systems. It provides a portable command and control method and system that enables rapid deployment and continuous wave operations through an access control mechanism and modular design.

[0025] Because existing technologies require large ground control vehicles with long deployment and retrieval times, and the launch and control vehicles are in fixed positions, they cannot meet the needs of rapid mobility and continuous combat. This invention achieves a lightweight design by integrating a portable computing terminal, communication radio components, data link terminal, and portable power supply unit into a storage unit, and releases resources through permission handover to support multi-wave launches.

[0026] This invention provides a solution that enables a system to possess high mobility, rapid deployment capability, and continuous combat capability, specifically including the following steps: Reference Figure 8 The command and control method for a loitering drone provided in the first embodiment of the present invention includes: A command and control method for loitering drones, comprising: S101. Establish data links with the mobile launch platform and external communication nodes to obtain UAV status data and mission command information; The mobile launch platform is a launch vehicle that loads the UAV. It connects to local equipment via a network port, and the external communication node is the higher-level command system. Data exchange is achieved through a command radio, and the UAV status data includes parameters such as engine, servo motors, and battery. This step enables two-way information exchange between the mobile launch platform and the external communication node, providing accurate and comprehensive basic data for subsequent mission planning and ensuring the rationality of the planning.

[0027] S102. Based on the task instruction information, perform automatic task pre-planning, generate a task planning scheme, call the deduction algorithm to simulate and deduce the task planning scheme, and output the deduction conclusions of task success rate and time consumption estimation. Specifically, mission pre-planning is completed by a pre-battle planning function within the monitoring equipment, generating three planning schemes. The deduction algorithm is a background deduction function that simulates the execution effect of the entire UAV mission process. This method replaces manual multi-aircraft mission planning, and the deduction algorithm predicts the execution effect of the schemes in advance, effectively avoiding unreasonable designs in mission planning and improving planning efficiency.

[0028] S103. In response to the confirmation operation of the deduction conclusion, the mission planning data is sent to the UAV for binding, and the UAV self-check and launch control logic is executed. For example, the confirmation operation involves the operator selecting the deduction conclusion and clicking the "send planning data" button. The self-test command is sent to the UAV by the monitoring equipment. The launch control includes two logics: one-click launch and single-position launch. Using this method, the processor can automatically bind mission planning data and perform batch self-test launches of UAVs, simplifying the operation process, adapting to the rapid launch requirements of the battlefield, and improving launch efficiency.

[0029] S104. Monitor the drone's flight status in real time. When the drone is determined to have entered the preset cruise phase, trigger the control authority handover process to transfer the control of the drone from the local station to the remote ground control station and release local communication resources.

[0030] Optionally, the preset cruise phase is when the UAV enters level flight, the local system is a portable command and control system, the remote ground control station is the existing ground control vehicle, and the communication resources include data link frequency bands and antenna links. In one embodiment of this application, the triggering of the control authority handover process includes: generating an exchange request message and sending it to the remote ground control station, the exchange request message containing the UAV's current geographical coordinates and communication frequency band parameters; receiving a connection confirmation instruction from the remote ground control station to verify identity and authority; and after successful verification, disconnecting the control link handshake between the local system and the UAV to complete the authority handover. The exchange request message is sent via a command radio, the geographical coordinates are the UAV's location information, and the identity and authority verification is completed by comparing the ground control vehicle number with the receiving number. This achieves the characteristic of the method, which can balance short-range launch from portable devices and remote command and control from ground control vehicles, freeing up local communication resources and supporting the portable system to quickly carry out a new round of launch missions.

[0031] In one embodiment of this application, the method further includes: receiving UAV telemetry data and video streams forwarded by a remote ground control station; responding to a user-input takeover request and requesting control authority from the remote ground control station; and, after obtaining authorization, reconstructing the mission flight path locally and sending the updated flight path control commands to the UAV. Specifically, the telemetry data includes the UAV's flight status, the takeover request is initiated by the operator of the portable device, and the flight path reconstruction is completed on the mission planning interface of the dual-screen hardened device. This standardizes the process and data format for authority handover, achieves seamless handover between the local and remote control stations, and avoids problems such as link interruption and command errors during the transfer of control. This also enables frontline operators to remotely take over the UAV and replan the flight path, adapting to the suddenness and flexibility of battlefield missions and improving the battlefield adaptability of the UAV.

[0032] In one embodiment of this application, the method further includes: receiving video stream data transmitted back by the UAV, extracting keyframes for 3D scene reconstruction; capturing images of the reconstructed scene according to user operation instructions, and generating a structured observation report by associating them with text description information; and encapsulating the structured observation report into a data packet and sending it to other associated communication nodes. For example, the video stream is in H.265 encoding format, the 3D scene reconstruction is implemented by a 3D reconstruction function within the monitoring device, and the structured observation report includes JPG format screenshots and text descriptions. The processor converts UAV reconnaissance video into a structured observation report, enabling standardized transmission and sharing of intelligence, and providing intelligence support for multi-node collaborative operations.

[0033] In one embodiment of this application, the output of the inference algorithm further includes: target area coverage, flight path conflict detection results, and estimated energy consumption rate. This allows for multi-faceted evaluation of the mission planning scheme, further improving its scientific validity and feasibility, and reducing the risk of mission failure.

[0034] refer to Figure 1 Based on the above method embodiments, this application also provides a portable command and control system for loitering drones, the system including: A portable computing terminal, as the core processing unit, includes a processor and memory; Among them, the portable computing terminal is a monitoring device. Its processor runs command and control software and various algorithm functions, and its memory stores various information such as UAV status, reconnaissance video, and planning data.

[0035] Communication radio components for remote communication; Specifically, the communication radio component is a command radio, which includes a communication antenna and a radio host, and completes the reception and decoding of radio frequency signals from external nodes and the transmission of digital signals to portable computing terminals.

[0036] Data link terminal, used for communication with drones; For example, the data link terminal is a communication link, which includes a directional antenna, an antenna bracket, and a data terminal, and the communication frequency band is consistent with that of the UAV data link antenna.

[0037] Portable power supply unit for providing electrical energy; Optionally, the portable power supply unit is a battery that independently powers the portable computing terminal, communication radio components, and data link terminal via a power line, adapting to battlefield and field environments where there is no external power source.

[0038] Portable storage unit for housing portable computing terminals, communication radio components, data link terminals and portable power supply units; The portable storage unit is a portable backpack designed for single-person carrying. It can securely store portable computing terminals, communication radio components, data link terminals, and power batteries, enabling mobile transport of equipment on the battlefield.

[0039] The communication radio component establishes a bidirectional signal connection with the portable computing terminal through the first data interface to obtain mission instruction information and send requests for control permissions; the data link terminal establishes a bidirectional signal connection with the portable computing terminal through the second data interface to send mission planning data and monitor the UAV's flight status; the portable power supply unit is electrically connected to the portable computing terminal, the communication radio component, and the data link terminal through power lines to form a power supply circuit; in the non-working state, the portable computing terminal, the communication radio component, the data link terminal, and the portable power supply unit are all stored and fixed inside the portable storage unit.

[0040] Specifically, both the first and second data interfaces are network ports, with cables / network cables as the connection carriers. The power supply circuit consists of a power supply battery connected to the power supply interface of each device. In the non-working state, each device is folded and stored in a portable storage unit.

[0041] In one embodiment of this application, the portable computing terminal is further configured with an external expansion interface; the portable computing terminal is connected to the control interface of the mobile transmission platform via a signal cable through the external expansion interface; the portable computing terminal is configured to receive status data of the mobile transmission platform through the external expansion interface and send ignition and transmission control signals to the mobile transmission platform.

[0042] In one embodiment of this application, the portable computing terminal is a dual-screen ruggedized computer; the dual-screen ruggedized computer includes an upper display screen, a lower display screen, and a physical control panel disposed on one side of the lower display screen; the upper display screen is configured to display received structured observation reports and received situational information; the lower display screen is configured to display simulation reports and a task planning interface; the physical control panel is connected to the processor via an internal bus and is used to provide hard switch input.

[0043] The portable computing terminal has an external expansion interface of Ethernet, while the mobile transmission platform has a control interface of Ethernet. The transmission control signal is sent directly from the portable computing terminal to the mobile transmission platform via a cable.

[0044] For example, the portable computing terminal is a dual-screen ruggedized computer, including an upper display screen, a lower display screen, and a physical control panel, whose hard switch inputs are encoded by an encoder and then transmitted to the command and control software.

[0045] In one embodiment of this application, the physical control panel integrates: a system start function key for triggering the UAV engine start logic; a batch launch key for triggering the generation of sequential launch commands; and several bit selection keys for correspondingly selecting UAVs at different positions on the mobile launch platform; the physical control panel is configured to assist in executing the launch control logic described in claim 1.

[0046] The system start function key is the engine start key, the batch operation key is the one-key operation key, and the position selection key is the job number position key, which corresponds to multiple job number positions of the work vehicle.

[0047] In one embodiment of this application, the data link terminal includes: a directional antenna for transmitting and receiving wireless radio frequency signals; an antenna bracket mechanically connected to the bottom of the directional antenna; and a data conversion unit, the radio frequency end of which is connected to the directional antenna via a feed line, and the data end of which is connected to a portable computing terminal via a second data interface; the data conversion unit is configured to convert the received radio frequency signals into digital signals and transmit them to the portable computing terminal to receive telemetry data and video streams.

[0048] The data conversion unit is a data terminal that performs bidirectional conversion between radio frequency and digital signals and establishes a connection with a portable computing terminal via a second data interface.

[0049] Centered on a dual-screen ruggedized monitoring device, the system handles data processing and command execution across the entire system, adapting to complex environments and ensuring operational stability. Utilizing the communication antenna and radio host, it enables remote communication with external management systems and ground control equipment, supporting the communication needs of multi-node collaborative operations. A directional antenna on the communication link facilitates communication with the UAV on designated frequency bands, while the data terminal ensures accurate signal conversion, providing a stable communication link for UAV control.

[0050] Employing a battery as an independent portable power supply unit eliminates the limitations of external power sources, adapting to field environments and enhancing the system's site adaptability. A portable backpack serves as the storage carrier, enabling integrated storage and single-person carrying of monitoring equipment, communication radios, communication links, and batteries, reducing equipment transportation costs and improving rapid deployment efficiency. Standardized network port connections for monitoring equipment, communication radios, and communication links, along with the backpack's storage configuration, allow for rapid unfolding and folding of the equipment while ensuring stable signal and power transmission, meeting rapid response requirements. Direct connection between the monitoring equipment's external expansion interface and the mobile work platform's port port simplifies the connection process between the portable control system and the mobile work platform, improving data transmission efficiency. The upper and lower displays on the monitoring equipment display different information, while the physical control panel provides hard-switch inputs, separating information display from operation control and improving operator efficiency. The physical control panel integrates core control buttons such as system start function keys, batch operation keys, and position selection keys, supporting both batch and standalone operation to meet the needs of different tasks and enhance control flexibility. Directional antennas improve the accuracy of radio frequency signal transmission and reception, antenna brackets enable rapid on-site antenna setup, and data terminals complete signal format adaptation, ensuring communication quality between monitoring equipment and drones and reducing signal loss.

[0051] The implementation steps of this invention are as follows: Step 1 (1): The hardware components of the portable command and control system include monitoring equipment, a command radio, a communication link, a portable backpack, and a power supply battery. Functional components include UAV operation and control functions, external communication functions, monitoring and display, information processing, link communication, storage and transportation functions, and power supply functions.

[0052] The monitoring equipment is a dual-screen ruggedized unit, as shown in the attached image. Figure 2 As shown. The screen is visible under sunlight. The upper screen of the dual-screen ruggedized laptop is entirely a screen with a resolution of [resolution missing]. The lower screen is divided into two parts: the left part is the screen itself, and the right part is the panel power button. The buttons are embedded in a prototype shape for easy and secure closing.

[0053] Command and control software was deployed on the dual-screen hardened laptop. The software interface layout is shown in the attached image. Figure 3 As shown. The upper screen software is mainly used for information processing and displaying situational information, including flight path monitoring, reconnaissance video, target processing results, global situation map, mission progress table, external radio messages, system fault alarms, etc. The lower screen software is used for UAV mission planning, system self-check, operation control, link monitoring, as well as flight monitoring and status alarms for individual UAVs. The software receives message data and reconnaissance data sent from the communication link and communication radio, and displays the data on the software interface.

[0054] The lower screen panel buttons are designed for convenient operation and control, as well as quick emergency commands. When a button is pressed, the encoder encodes the button command according to a protocol. The remote management software receives the button encoding via serial port and parses the corresponding command. The first row of three buttons is for engine start, level flight, and one-button operation. The one-button operation automatically operates the drone sequentially according to the order of the first, second, and third rows. The buttons in the second and third rows correspond to the job positions on the work vehicle, namely "Job 1," "Job 2," "Job 3," "Job 4," "Job 5," and "Job 6," allowing for individual drone operation. However, if the drone's work container is not fully loaded after task breakdown, the specific position's operation button can be used for quick operation.

[0055] The antenna transmits the received signal to the radio station through the interface. The radio station decodes the signal and converts it into a digital signal, which is then transmitted to the monitoring equipment via the network port. The remote management software decodes the signal according to the radio message protocol and displays it in the "Radio Messages" area on the monitoring equipment screen.

[0056] The communication link includes an antenna, an antenna mount, and a data terminal. The antenna is a directional antenna, and its frequency band is consistent with that of the UAV's antenna. The antenna mount is used to erect the antenna.

[0057] Portable backpacks are used to store power batteries, communication links, monitoring equipment, and command radios. They are carried by a single person and are convenient for storage and transportation.

[0058] Step 1 (2): The portable command and control system has five operating modes. The first is the foldable carrying mode, which stores the hardware of the portable command and control system in a backpack, allowing for single-person carrying.

[0059] The second type is the UAV launch control mode, and the hardware connection method is shown in the attached figure. Figure 4As shown. The hardware is deployed in an open area and connected to the launch vehicle via cable to enable drone launch. The dual-screen ruggedized device's network port is connected to the launch vehicle's network port via cable. The launch vehicle transmits the drone's status from the launch box to the ruggedized device. The ruggedized device's software parses the status data and displays it on the dual-screen interface. Control commands are sent from the soft and hard control panels on the ruggedized device to the launch vehicle via the network port according to the protocol, completing the transmission of control commands.

[0060] The third type is drone monitoring mode, and the hardware connection method is shown in the attached figure. Figure 5 As shown, the monitoring equipment, command radio, and communication links are deployed on-site. The devices are connected by cables and powered by batteries. The drone is displayed and controlled by command and control software on the monitoring equipment. The fourth mode is node monitoring mode, and the hardware connection method is shown in the appendix. Figure 6 As shown. If other personnel need to monitor the situation ahead, they can communicate with the drone via a portable command and control system. Personnel within the mission area set up the portable command and control system, connect the command and control radio to the current drone command and control station to ensure the correct frequency band and drone location, point the portable device's data link antenna at the drone to be taken over, and use the command and control software to tune the ground data terminal channel and the drone's frequency to the same band. This completes the takeover of the drone's status, and the status and reconnaissance information are displayed on the command and control software. Control of the drone can then be achieved through a handover process.

[0061] The fifth type is the launch vehicle deployment mode, with the connection method as shown in the appendix. Figure 7 As shown, command radios, communication links, and monitoring equipment can be quickly installed on the launch vehicle via a universal interface. When a launch vehicle completes a launch and the next launch site needs to launch quickly, the portable command and control system is transported along with the launch vehicle. After arriving at the site, it uses the launch vehicle as a vehicle-mounted platform to achieve command and control under in-site deployment.

[0062] Step 2 (1): Operators, carrying portable command and control equipment, traveled to the launch site in a launch vehicle loaded with the drone. After arriving at the launch site, the operators connected the communication link equipment, monitoring equipment, and communication radio via cables, powered by batteries, and transmitted signals as shown in the attached diagram. Figure 4 As shown. Deployed in a safe area outside the launch vehicle. Orient the communication link antenna towards the direction of the UAV launch. Simultaneously connect the network port on the launch vehicle's access door to the network port of the monitoring equipment.

[0063] Click "Pre-launch Self-Test" in the launch control module on the lower screen. The command and control software will simultaneously send self-test commands from multiple drones to the drones on the launch vehicle. The command data is as follows:

[0064] After receiving command data, the drone inside the launch container transmits its status after execution to the command and control software for display. The launch vehicle then displays the status of all drones inside the container. The data is transmitted to the portable monitoring device through the network port of the perforated door. The data is as follows: Status of the drone:

[0065] The command and control software transmits the received data via the network port. According to the data protocol structure The status of each sensor is converted and displayed in the status bar on the lower screen. The interface displays the following data for the software protocol conversion function:

[0066] in, For engine parameters, For servo parameters, These are battery parameters.

[0067] The launch control module will As expected The comparison is performed, and if the conditions are met, the pre-launch self-test is completed.

[0068] Step 2 (2): The accusation software receives intelligence data from higher-level radios via the network port of the monitoring device. The data is then processed through the protocol parsing module and displayed to the message module of the monitoring device. Including intelligence transmission time The node number for intelligence transmission and specific text messages .

[0069] The software sends the message information to the pre-war planning function. The planning function will produce three planning outcomes. The pre-battle planning module displays results in text format, including the sortie time, patrol route, reconnaissance route, attack route, and self-destruct time for each drone. Personnel click the "Simulation" button, and the software will... Send to the derivation function The final simulation results showed three possible outcomes for the three planning results, including drone damage rate, target hit rate, and completion time. After evaluation, personnel selected one of the planning outcomes. .

[0070] Personnel click the "Send Planning Data" button to send the planning results to the drones inside the launch vehicle. The drones save the data locally, completing the pre-launch mission planning. On the lower right side of the ruggedized version's screen, click the "One-Click Launch" button. The one-click launch command is transmitted to the launch vehicle following the panel command sending method in step 1, completing the one-click launch of multiple drones. If subsequent launches are needed, the mobile drone loading vehicle loads the drones into empty launch containers, repeating the above process to complete the subsequent launches.

[0071] Step 3: The data terminal in the communication link converts the UAV radio frequency signals received by the antenna into digital signals, which are then transmitted to the monitoring equipment via a network cable. The command and control software displays the UAV's status and reconnaissance situation information. Operators watch the real-time reconnaissance video, and upon reaching the mission area, click "data recording" to save the video to a local file. The data content is as follows:

[0072] in, For video duration, The attitude of the drone is Attitude of the optoelectronic pod This is the value measured by photoelectric laser ranging. It is an H.265 video stream.

[0073] When a user clicks the "Target Processing" button in the software, a "Video Selection" interface pops up. Video data The data is fed into a 3D reconstruction function to reconstruct a 3D scene from the reconnaissance video. The 3D image is displayed in the display area, and personnel can take screenshots from multiple angles based on the reconstructed scene. The screenshot will be automatically saved locally.

[0074] Personnel open the "Radio Messages" interface, enter a text description, and select a 3D screenshot. , The software converts screenshots into data according to the standard JPG format, overlays text descriptions, selects the addresses of other radio stations, and then transmits the intelligence information. Send to the corresponding radio station, with the data format as follows.

[0075]

[0076] The remote management software sends control data to the data terminal via the network port, and the data terminal converts the digital signal. The antenna transmits the radio frequency signal to the UAV data link antenna, and the UAV executes the control commands transmitted from the ground.

[0077] Step 4: The monitoring equipment in the portable management system can observe the drone's status and mission progress. Once the drone enters the cruise route and reaches level flight, the portable management system begins to transfer drone control to the remote management center. The portable management system then transmits the drone's location and other information to the remote management center via a communication radio. The message transmission method follows step 3, and the information data format is as follows:

[0078] The remote management center adjusts the data link frequency band based on the received drone data. The remote management center can receive the status data of the drone under its control. Then, the operator of the remote management center sends an operation permission request instruction to the drone. The drone forwards the request to the portable management node, and a "Permission Request" message pops up on the hardened screen. The request includes the remote management center's number. If the operator clicks "Agree to Permission Request", the permission is transferred to the remote management center with the number.

[0079] Once the drone's flight distance exceeds the data link communication distance of the portable management system, the portable management system will no longer receive status updates from the drone and will disconnect from the drone. After the subsequent drone loading vehicle finishes loading the work container of the work vehicle, the portable management system will switch to the next task and begin a new round of drone operation and management tasks, repeating steps 2, 3, and 4.

[0080] Depending on the requirements of subsequent tasks, operators can also follow the attached... Figure 7 This method involves installing the portable management system equipment onto a drone-free work vehicle to achieve on-site management. Step 5 (1): In an open area, unfold the portable management system hardware, and arrange the communication radio, communication link, monitoring equipment, and power supply battery according to the attached... Figure 6 Establish a connection.

[0081] The portable device operator communicates with the remote management personnel via a communication radio, following the procedure in step 4. If the portable device operator needs to know the reconnaissance information of drones in multiple mission areas at the same time, the remote management center can provide information data from multiple drones.

[0082] Step 5 (2): When the portable device operator needs to control the drone to reach a specific area for reconnaissance, after completing step 5 (1), the operator sends a permission request to the remote management center by pointing the antenna at the drone. The portable device operator sends the permission request instruction to the drone, which forwards it to the remote management center node. A "permission request" pops up on the remote management center link monitoring software, and the request instruction includes the number of the portable management system node.

[0083] Step 6: After the portable command and control system node gains access to the drone, the operator plans the mission on the command and control software and transmits the planned flight path data to the drone via the antenna. The flight path data format is as follows:

[0084] After receiving the data, the drone flies along the new route and transmits the reconnaissance video to a portable command and control device. Personnel can click on the target recognition in the "target processing" function of the software to automatically identify targets in the reconnaissance video and overlay recognition boxes, target attributes, and numbers onto the video.

[0085] After the operator double-clicks to track the target on the video interface according to the mission requirements, the command and control software sends the target's pixel coordinates and tracking instructions to the drone. The drone's electro-optical pod tracks the selected target in real time. Once the tracking is stable, the operator clicks "strike". After receiving the strike instruction from the ground, the drone begins image guidance to complete the dive operation.

[0086] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A portable command and control method for a loitering drone, characterized in that, include: Establish data links with mobile operation platforms and external communication nodes to obtain UAV status data and mission command information; Based on the task instruction information, automatic task pre-planning is performed to generate a task planning scheme. The inference algorithm is called to simulate and infer the task planning scheme, and the inference conclusions of task success rate and time consumption are output. In response to the confirmation operation of the deduction conclusion, the mission planning data is sent to the UAV for binding, and the UAV self-check and operation control logic is executed. The system monitors the drone's flight status in real time. When the drone is determined to have entered a preset cruise phase, it triggers a control handover process, transferring control of the drone from the local area to the remote management center and releasing local communication resources.

2. The method as described in claim 1, characterized in that, The trigger control authority handover process includes: Generate an exchange request message and send it to the remote management center. The exchange request message contains the UAV's current geographic coordinates and communication frequency band parameters. Receive connection confirmation instructions from the remote management center and verify identity and permissions; After successful verification, disconnect the control link between the local machine and the drone to complete the transfer of permissions.

3. The method as described in claim 1, characterized in that, Also includes: Receives drone telemetry data and video streams forwarded by the remote management center; In response to a user's takeover request, request control permissions from the remote management center; After obtaining authorization, the mission flight path is reconstructed locally, and the updated flight path control commands are sent to the drone.

4. The method as described in claim 1, characterized in that, Also includes: Receive video stream data transmitted back by the drone and extract key frames to reconstruct the 3D scene. Based on user operation instructions, images of the reconstructed scene are captured and associated with textual description information to generate a structured observation report; The structured observation report is encapsulated into a data packet and sent to other associated communication nodes.

5. The method as described in claim 1, characterized in that, The output of the inference algorithm also includes: Target area coverage, flight path conflict detection results, and projected energy consumption rate.

6. A portable command and control system for use in patrol drone operations, characterized in that, The system is configured to perform the method as described in any one of claims 1 to 5, the system comprising: A portable computing terminal, as the core processing unit, includes a processor and memory; Communication radio components for remote communication; Data link terminal, used for communication with drones; Portable power supply unit for providing electrical energy; Portable storage unit for housing portable computing terminals, communication radio components, data link terminals and portable power supply units; The communication radio component establishes a two-way signal connection with the portable computing terminal through the first data interface, which is used to obtain task instruction information and send requests for control permissions. The data link terminal establishes a bidirectional signal connection with the portable computing terminal through the second data interface, which is used to send mission planning data and monitor the flight status of the UAV. The portable power supply unit is electrically connected to the portable computing terminal, the communication radio component, and the data link terminal via power lines, forming a power supply circuit. In non-working mode, the portable computing terminal, communication radio component, data link terminal and portable power supply unit are all stored and fixed inside the portable storage unit.

7. The system as described in claim 6, characterized in that, The portable computing terminal is also equipped with an external expansion interface; The portable computing terminal is connected to the control interface of the mobile work platform via a signal cable through the external expansion interface. The portable computing terminal is configured to receive work platform status data through the external expansion interface and send start and operation control signals to the work platform.

8. The system as described in claim 6, characterized in that, The portable computing terminal is a dual-screen ruggedized computer; The dual-screen ruggedized computer includes an upper display screen, a lower display screen, and a physical control panel located on one side of the lower display screen; The upper display screen is configured to display the received structured observation report and the received situation information; The lower display screen is configured to display the simulation report and task planning interface; The physical control panel is connected to the processor via an internal bus and is used to provide hard switch inputs.

9. The system as described in claim 8, characterized in that, The physical control panel integrates: The system start function key is used to trigger the drone engine start logic; Batch operation key, used to trigger the generation of sequential operation instructions; Several selection keys are used to select drones at different locations on the mobile operation platform; The physical control panel is configured to assist in executing the operation control logic as described in claim 1.

10. The system as described in claim 6, characterized in that, The data link terminal includes: A directional antenna used for transmitting and receiving wireless radio frequency signals; The antenna support is mechanically connected to the bottom of the directional antenna; The data conversion unit has its radio frequency end connected to the directional antenna via a feed line, and its data end connected to the portable computing terminal via the second data interface. The data conversion unit is configured to convert the received radio frequency signal into a digital signal and transmit it to a portable computing terminal to receive telemetry data and video streams.

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