A method and system for multi-protocol compatible UAV flight control docking and data acquisition

Abstract

This invention relates to the field of data processing technology, and discloses a method and system for docking and data acquisition of a UAV flight controller that is compatible with multiple protocols. The method includes: configuring the docking interface parameters of the flight controller in the target UAV and establishing a physical communication link; continuously receiving the communication data stream output by the flight controller through the communication link; identifying the protocol type through the data frame characteristics of the communication data stream; matching and loading the corresponding target protocol stack based on the protocol type; performing protocol parsing and format conversion on the communication data stream according to the target protocol stack to obtain the original flight controller dataset; detecting the execution validity of each data frame in the original flight controller dataset according to a preset threshold range; discarding abnormal parameters that fail verification; and obtaining a valid parameter dataset that passes verification. This invention can solve the problem that the existing technology uses a single phase sampling method, which is prone to data stream interruption or increased bit error rate.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and in particular to a method and system for multi-protocol compatible UAV flight control docking and data acquisition. Background Technology

[0002] With the widespread application of drones in fields such as power line inspection, agricultural plant protection, and geographic surveying, different manufacturers' flight control systems have formed their own independent communication protocol systems, such as MAVLink, DJIOSDK, and custom protocols. The compatibility requirements for flight control interface and data acquisition are becoming increasingly prominent.

[0003] Existing technologies mostly adopt a customized development model of one flight controller and one adapter. For example, when an inspection team uses three different brands of drones to carry out operations at the same time, it is necessary to write an independent parsing program for each flight controller. After each flight controller firmware upgrade, joint debugging and testing must be carried out again. A single adaptation cycle usually takes 2-3 weeks.

[0004] Meanwhile, existing solutions typically have fixed communication link parameters preset, which cannot automatically adjust the matching state according to the flight controller output impedance. In strong electromagnetic environments such as substations, signal reflection and attenuation problems are more obvious. In addition, the use of a single phase sampling method can easily lead to data stream interruption or increased bit error rate.

[0005] In the data processing stage, existing technologies often use cyclic redundancy check with fixed thresholds for validity detection, without dynamically adjusting the judgment range based on the actual anti-interference capability of the communication link. For example, when the link is slightly interfered with, the normally normal battery voltage data may be misjudged as abnormal and discarded due to small fluctuations, while the motor speed data that actually exceeds the standard may be missed due to the threshold setting being too wide. Summary of the Invention

[0006] This invention provides a method and system for flight control docking and data acquisition of unmanned aerial vehicles (UAVs) that is compatible with multiple protocols, and its main purpose is to address the problems mentioned in the background art above.

[0007] To achieve the above objectives, this invention provides a multi-protocol compatible UAV flight control docking and data acquisition method, comprising: S1: Configure the docking interface parameters of the flight controller in the target UAV and establish a physical communication link, and continuously receive the communication data stream output by the flight controller through the communication link; S2: Identify the protocol type through the data frame features of the communication data stream, match and load the corresponding target protocol stack based on the protocol type, and perform protocol parsing and format conversion on the communication data stream according to the target protocol stack to obtain the flight control raw dataset; S3: Detect the execution validity of each data frame in the original flight control dataset according to a preset threshold range, discard the abnormal parameters that fail the verification, and obtain the valid parameter dataset that passes the verification. S4: Step by step, the effective parameter dataset is mapped according to the naming rules, converted to non-standard units of measurement, and calibrated for the acquisition accuracy to obtain a standardized parameter dataset. S5: Monitor the abnormal data state of the parameters in the standardized parameter dataset, and perform linear interpolation to supplement the parameters marked as abnormal data states; S6: The standardized parameter dataset with completed linear interpolation and normal status is encapsulated into a general format data, and the general format data is transmitted in real time to the ground command and control platform corresponding to the UAV to complete the standardized acquisition of flight control data.

[0008] Preferably, configuring the docking interface parameters of the flight controller in the target UAV and establishing a physical communication link, and continuously receiving the communication data stream output by the flight controller through the communication link, includes: Continuous differential frequency sweep excitation and reflection waveform acquisition are performed on the data interaction port of the flight control system in the target UAV from low frequency to high frequency to obtain complex impedance characteristics; Based on the complex impedance characteristics, a physical communication link is determined that forms a conjugate match with the corresponding output impedance of the flight controller; The physical communication link is parsed to obtain the link synchronization parameter set; Based on the link synchronization parameter set, multi-phase oversampling decision is made on the subsequently received analog differential signals on the physical communication link, and data payload splicing is performed to obtain the communication data stream.

[0009] Preferably, the step of identifying the protocol type through the data frame features of the communication data stream, and matching and loading the corresponding target protocol stack based on the protocol type includes: The frame start boundary lock and frame header of the communication data stream are stripped to obtain the data frame features consisting of a synchronization header sequence and a frame length field; The data frame features are compared for consistency based on a pre-configured protocol feature identifier library to obtain the protocol type; Identify the protocol stack images belonging to the protocol stack storage partition in the protocol feature identifier library, and retrieve the protocol stack images according to the protocol type; The retrieved protocol stack image bound to the protocol type is then loaded into the UAV's parsing memory space to obtain the target protocol stack.

[0010] Preferably, the step of performing protocol parsing and format conversion on the communication data stream based on the target protocol stack to obtain the flight control raw dataset includes: The communication data stream is segmented into payload segments based on the frame delimiter of the target protocol stack. Data fields are segmented from the payload segment according to the mapping definition of message identifier bits in the target protocol stack; The data field is converted to byte order based on the byte order definition in the target protocol stack to obtain the original parameter value set; The original parameter value set is subjected to flight control parameter semantic transformation to obtain the original flight control dataset.

[0011] Preferably, the step of detecting the execution validity of each data frame in the original flight control dataset according to a preset threshold range, discarding abnormal parameters that fail verification, and obtaining a valid parameter dataset that passes verification includes: Extract the frame tail field of each data frame in the original flight control dataset to obtain the frame verification sequence field; Separate the payload segment from the data frame in the original flight control dataset to obtain the payload to be verified; Cyclic redundancy check (CRC) is performed on the payload to be checked to obtain a CRC check code; The cyclic redundancy check code is compared bit by bit with the frame check sequence field to obtain the frame check comparison result. Based on the frame verification comparison results, discard data frames that fail the verification to obtain a valid set of data frames; The range compliance of each flight control parameter in the valid data frame set is determined based on a preset threshold range detection. The valid parameter dataset is determined from the set of valid data frames based on the range conformity.

[0012] Preferably, the step of obtaining the preset threshold range includes: Based on the complex impedance characteristics, an interference voltage with an amplitude that increases stepwise is injected into the established physical communication link. The target protocol stack is used to perform cyclic redundancy check on the data frames returned by the flight controller under each interference amplitude to obtain an error count sequence. Extract the critical interference voltage value corresponding to the step increase of the frame check error count from zero from the error count sequence; The critical interference voltage value is used as the electrical immunity tolerance level of the physical communication link; The full-scale bit width is extracted from the data field type of each flight control parameter in the target protocol stack, and the ratio of the electrical immune tolerance level to the quantization unit of the full-scale bit width is calculated to obtain the relative tolerance ratio of the flight control parameter. The upper limit of the full scale of each flight control parameter is taken as the upper limit of the threshold by multiplying the upper limit of the relative tolerance ratio of each parameter. The lower limit of the full-scale value of the flight control parameter is obtained by multiplying it by the relative tolerance ratio. The upper threshold and the lower threshold are combined to form a preset threshold range for the flight control parameter.

[0013] Preferably, the stepwise mapping of the effective parameter dataset according to naming rules, conversion of non-standard units of measurement, and calibration of acquisition accuracy to obtain a standardized parameter dataset includes: The valid parameter dataset is standardized by name mapping to obtain a uniformly named dataset; The original values ​​in the unified naming dataset are converted to International System of Units (SI) to obtain a set of standard unit parameters. Zero-offset calibration is performed on the standard unit parameter set to obtain a standardized parameter dataset.

[0014] Preferably, the step of monitoring abnormal data states of parameters in the standardized parameter dataset and performing linear interpolation to supplement parameters marked as abnormal data states includes: The continuity of the frame sequence identifiers carried in the standardized parameter dataset is checked to obtain the missing frame slots; Extract the flight control parameters and sequence identifiers corresponding to the normal frames preceding and following the missing frame gaps to locate the pre-interpolation anchor point and the post-interpolation anchor point. The interpolation slope is calculated using the difference in parameter values ​​and sequence identifier difference between the preceding and following interpolation anchor points; The linear interpolation supplement value is obtained by multiplying and accumulating the sequence offset of the missing frame gap relative to the previous interpolation anchor point and the interpolation slope. The linear interpolation supplementary value is filled into the missing frame slots corresponding to the standardized parameter dataset.

[0015] Preferably, the step of encapsulating the standardized parameter dataset, which has been completed by linear interpolation and is in a normal state, into a general format data set, and transmitting the general format data to the ground command and control platform corresponding to the UAV in real time, to complete the standardized acquisition of flight control data, includes: The standardized parameter dataset with completed linear interpolation and normal state is serialized to obtain a general format data payload. A data transmission session is established by combining the preset ground backhaul address in the docking interface parameters to obtain the downlink transmission session handle; The general format data payload is pushed and sent in real time through the downlink transmission session handle to obtain a reception completion confirmation flag.

[0016] A multi-protocol compatible UAV flight control docking and data acquisition system, used to implement the multi-protocol compatible UAV flight control docking and data acquisition method described in any one of claims 1-9, the system comprising: Configuration module: used to configure the docking interface parameters of the flight controller in the target UAV and establish a physical communication link, and continuously receive the communication data stream output by the flight controller through the communication link; Flight control data acquisition module: used to identify the protocol type through the data frame features of the communication data stream, match and load the corresponding target protocol stack based on the protocol type, and perform protocol parsing and format conversion on the communication data stream according to the target protocol stack to obtain the original flight control dataset; Verification module: used to detect the execution validity of each data frame in the flight control raw dataset according to a preset threshold range, discard abnormal parameters that fail verification, and obtain a valid parameter dataset that passes verification; Standard processing module: used to perform step-by-step naming rule mapping, non-standard unit conversion and acquisition accuracy calibration on the effective parameter dataset to obtain a standardized parameter dataset; Supplement module: used to monitor abnormal data states of parameters in the standardized parameter dataset, and to perform linear interpolation to supplement the parameters marked as abnormal data states; The data acquisition module is used to encapsulate the standardized parameter dataset that has been supplemented by linear interpolation and is in normal condition into a general format data, and transmit the general format data to the ground command and control platform corresponding to the UAV in real time, thus completing the standardized acquisition of flight control data.

[0017] Compared with the prior art, the present invention has the following beneficial effects: This invention acquires the complex impedance characteristics of the flight control port through continuous differential frequency sweep excitation from low to high frequency, and automatically constructs a physical communication link that is conjugate-matched to the flight control output impedance, reducing signal reflection and attenuation problems. At the same time, it adopts a multi-phase oversampling decision method to analyze the analog differential signal. Compared with traditional single-phase sampling, it ensures the continuity of data stream reception in strong electromagnetic interference scenarios such as substations and high-voltage lines. Based on the data frame characteristics, it automatically identifies the protocol type and dynamically loads the corresponding protocol stack image, eliminating the need for customized code development for different flight control models, resulting in better compatibility. Moreover, after the flight control firmware is upgraded, only the protocol feature identifier library needs to be updated to complete the adaptation.

[0018] This invention dynamically generates preset threshold ranges for each parameter by combining the electrical immune tolerance level of the communication link with the full-scale bit width of the flight control parameters. Compared with fixed threshold verification, this avoids the accidental discarding of normal data under slight interference and can identify abnormal parameters that exceed the limits. Through step-by-step standardization processing of unified naming rules, SI conversion, and zero offset calibration, it solves the problems of chaotic naming, inconsistent units, and inconsistent precision of different flight control parameters. The ground command and control platform can use it directly without secondary data conversion. In addition, the linear interpolation completion mechanism based on frame sequence continuity verification can automatically fill in the lost flight control data frames during transmission, avoiding problems such as flight trajectory discontinuity and parameter jumps, and ensuring the reliability of real-time flight monitoring and subsequent data analysis of UAVs.

[0019] This invention injects progressively increasing interference voltage into the communication link to measure the link's electrical immunity tolerance level. Then, it dynamically calculates a specific threshold range based on the full-scale bit width of each flight control parameter. This allows for adaptive adjustment of the verification standard according to different communication environments and parameter characteristics. It avoids the accidental loss of normal data under slight interference and can identify truly abnormal parameters that exceed the limits, ensuring the accuracy, integrity, and continuity of flight control data and providing standardized data input for the ground command and control platform. Attached Figure Description

[0020] Figure 1 This is a flowchart illustrating a multi-protocol compatible UAV flight control docking and data acquisition method according to an embodiment of the present invention; Figure 2 This is a functional block diagram of a multi-protocol compatible UAV flight control docking and data acquisition system provided in an embodiment of the present invention; The objectives, features, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0021] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0022] This application provides a multi-protocol compatible UAV flight control docking and data acquisition method. The execution entity of this multi-protocol compatible UAV flight control docking and data acquisition method includes, but is not limited to, at least one of the following electronic devices that can be configured to execute the method provided in this application embodiment: a server, a terminal, etc. In other words, the multi-protocol compatible UAV flight control docking and data acquisition method can be executed by software or hardware installed on a terminal device or a server device. The server includes, but is not limited to, a single server, a server cluster, a cloud server, or a cloud server cluster. The server can be an independent server or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks, and big data and artificial intelligence platforms.

[0023] Reference Figure 1 The diagram shown is a flowchart illustrating a multi-protocol compatible UAV flight control docking and data acquisition method according to an embodiment of the present invention. In this embodiment, the multi-protocol compatible UAV flight control docking and data acquisition method includes: S1: Configure the docking interface parameters of the flight controller in the target UAV and establish a physical communication link, and continuously receive the communication data stream output by the flight controller through the communication link; In this embodiment, configuring the docking interface parameters of the flight controller in the target UAV and establishing a physical communication link, and continuously receiving the communication data stream output by the flight controller through the communication link, includes: Continuous differential frequency sweep excitation and reflection waveform acquisition are performed on the data interaction port of the flight control system in the target UAV from low frequency to high frequency to obtain complex impedance characteristics; Based on the complex impedance characteristics, a physical communication link is determined that forms a conjugate match with the corresponding output impedance of the flight controller; The physical communication link is parsed to obtain the link synchronization parameter set; Based on the link synchronization parameter set, multi-phase oversampling decision is made on the subsequently received analog differential signals on the physical communication link, and data payload splicing is performed to obtain the communication data stream.

[0024] Specifically, low frequency refers to the starting frequency value of the sweep excitation signal, and high frequency refers to the ending frequency value of the sweep excitation signal.

[0025] The data exchange port is the physical interface on the target UAV flight control module used for exchanging data with the outside world.

[0026] Continuous differential frequency sweep excitation refers to a sinusoidal or square wave excitation signal that changes continuously from low frequency to high frequency and is output in differential form, used to apply frequency sweep electrical stimulation to the data interaction port.

[0027] The reflected waveform is the waveform formed when a sweep frequency excitation signal is injected into the data interaction port, and part of the signal energy is reflected back due to the mismatch between the port impedance and the excitation source impedance.

[0028] Complex impedance characteristics are impedance parameters that vary with frequency and are calculated from the reflected waveform, including both real and imaginary parts.

[0029] Output impedance is the equivalent internal resistance of the flight control data interaction port itself. When the signal is output, it is the internal impedance of the signal source, and its value may change with frequency.

[0030] Conjugate matching refers to the condition that the input impedance of the external link and the output impedance of the flight controller satisfy the condition that the real parts are equal and the imaginary parts are opposite, so that the power transmission is maximized and the reflection is minimized when the signal is transmitted from the flight controller to the external link.

[0031] A physical communication link is an actual electrical connection established for transmitting signals.

[0032] Level mode analysis involves identifying the waveform of voltage signals transmitted on a physical communication link to determine their logic level standard.

[0033] The link synchronization parameter set is a set of parameters that includes the level standard used by the link, baud rate, data bit width, number of stop bits, parity type, and clock phase alignment information.

[0034] Analog differential signals are analog waveforms transmitted over physical communication links, represented by a pair of mutually opposite voltage signals. The difference between the two signals represents digital information, and they have the advantage of resisting common-mode interference.

[0035] Multi-phase oversampling decision involves sampling the analog differential signal multiple times within one symbol period using sampling clocks with multiple phase offsets, and then comprehensively judging the logic value of the symbol based on the voltage values ​​at each sampling point, in order to eliminate signal jitter and inter-symbol interference.

[0036] Data payload splicing is the process of combining multiple symbols recovered after multi-phase oversampling decisions into complete bytes, words, or data packets in chronological order to restore the original binary data stream.

[0037] The communication data stream is the final continuous binary data sequence, which includes the original data frames output by the flight controller according to its communication protocol, such as frame headers, payloads, check fields, etc.

[0038] In detail, a pair of frequency sweep signals with opposite polarities are generated progressively from low frequency to high frequency and injected into the port. At the same time, the reflected waveforms reflected back from the port are collected. By comparing the amplitude and phase relationship between the incident wave and the reflected wave at each frequency point, the complex impedance characteristics that vary with frequency are obtained.

[0039] Then, based on the complex impedance characteristics, the external link impedance value that can form a conjugate match with the flight control output impedance is calculated, and the matching resistor, cable length or compensation network of the physical communication link is adjusted so that the link input impedance is equal to the conjugate value of the flight control output impedance, thereby establishing a physical communication link with minimal signal reflection and maximum power transmission.

[0040] By capturing a typical waveform, its voltage swing, rising and falling edge times, and level thresholds are identified to determine the level standard, such as TTL or RS-232. Edge detection and clock recovery techniques are then used to extract parameters such as baud rate, data bit width, number of stop bits, and parity check method, which are then summarized to obtain a set of link synchronization parameters.

[0041] Multiple sampling clocks with fixed phase differences are generated, for example, one every 90°. The difference voltage of the differential signal pair is sampled multiple times within each symbol period. The symbol is determined to be 0 or 1 based on the logic value of the majority of sampling points, thereby resisting signal jitter.

[0042] S2: Identify the protocol type through the data frame features of the communication data stream, match and load the corresponding target protocol stack based on the protocol type, and perform protocol parsing and format conversion on the communication data stream according to the target protocol stack to obtain the flight control raw dataset; In this embodiment, the step of identifying the protocol type through the data frame features of the communication data stream, and then matching and loading the corresponding target protocol stack based on the protocol type includes: The frame start boundary lock and frame header of the communication data stream are stripped to obtain the data frame features consisting of a synchronization header sequence and a frame length field; The data frame features are compared for consistency based on a pre-configured protocol feature identifier library to obtain the protocol type; Identify the protocol stack images belonging to the protocol stack storage partition in the protocol feature identifier library, and retrieve the protocol stack images according to the protocol type; The retrieved protocol stack image bound to the protocol type is then loaded into the UAV's parsing memory space to obtain the target protocol stack.

[0043] Specifically, the communication data stream is a continuous binary data sequence received from the physical communication link, including the original data frames output by the flight controller according to its internal communication protocol. Each frame consists of fields such as frame start boundary, frame header, payload, and frame tail.

[0044] The frame start boundary is the marker position at the beginning of each frame in the communication data stream. The frame header is a set of fixed-format data fields located after the frame start boundary.

[0045] The first field in the synchronization header sequence frame header consists of a fixed set of bit patterns. The frame length field is a data field in the frame header, which usually occupies 1 or 2 bytes.

[0046] Data frame features are a set of feature information extracted from the communication data stream to identify the protocol type. Specifically, they consist of the specific values ​​of the synchronization header sequence and the value of the frame length field.

[0047] A pre-configured protocol feature identifier library is stored in a data set in the onboard computer or data acquisition device of the UAV. This library contains identifier information for various known UAV flight control protocols, with each record corresponding to a protocol type.

[0048] The protocol type is the category name of the communication protocol used by the flight controller, identified after comparison. Examples include MAVLink protocol, DJI protocol, and Pixhawk native protocol. It is used to uniquely determine the protocol stack that needs to be loaded later.

[0049] The protocol stack storage partition is a specially designated area in the memory used to store various UAV flight control protocol stack image files. Each image file corresponds to a complete parsing logic for a protocol type, and this partition is indexed according to protocol type.

[0050] The protocol stack image is a block of binary data that contains all the program code, parameter definition tables, message mapping tables, byte order definitions, and verification algorithms required to parse a specific flight control protocol.

[0051] The memory space is a dynamically allocated memory region in the UAV's onboard computer or data acquisition device, used to load and run the target protocol stack image.

[0052] The target protocol stack was successfully loaded into the protocol stack image instance in the parsing memory space, which will be used to perform protocol parsing and format conversion on the subsequently received communication data stream.

[0053] In detail, the received bit stream is continuously input into a shift register and compared with a set of known possible synchronization header sequences using a sliding correlation comparison. When a correlation peak is detected, the frame start boundary is locked. Then, read bytes of a fixed length continuously after the boundary, extract the frame header field, and extract the specific values ​​of the synchronization header sequence and the frame length field from the frame header. Combine these two parts to form the data frame characteristics.

[0054] The standard values ​​of the synchronization header sequence and the frame length encoding rules stored in the library are retrieved one by one and compared bit by bit with the features of the currently extracted data frame. When they match completely, the protocol type corresponding to the communication data stream is determined.

[0055] Locate the protocol stack storage partition identifier associated with the protocol type in the pre-arranged protocol feature identifier library, and find the protocol stack image file stored in that partition; Using the identified protocol type as the search keyword, the system indexes and searches for the protocol stack image bound to it within the protocol stack storage partition.

[0056] Finally, the memory allocation function is called to request a contiguous region in the UAV's parsed memory space that is large enough to hold the protocol stack image. The retrieved protocol stack image is read from the storage medium, copied byte by byte to the memory region, and the execution attributes of the memory region are set. The loading is then completed, and the target protocol stack is obtained.

[0057] In this embodiment, the step of performing protocol parsing and format conversion on the communication data stream based on the target protocol stack to obtain the flight control raw dataset includes: The communication data stream is segmented into payload segments based on the frame delimiter of the target protocol stack. Data fields are segmented from the payload segment according to the mapping definition of message identifier bits in the target protocol stack; The data field is converted to byte order based on the byte order definition in the target protocol stack to obtain the original parameter value set; The original parameter value set is subjected to flight control parameter semantic transformation to obtain the original flight control dataset.

[0058] Specifically, the frame delimiter is a specific field or combination of fields defined in the target protocol stack, used to identify the start and end positions of the payload segment within a frame.

[0059] The payload segment is the core data portion separated from each frame of the communication data stream. It is located between the frame header and frame tail and contains actual parameter data reported by the flight control system, such as attitude angle, altitude, and speed.

[0060] The message identifier is a bit field at one or a group of fixed positions in the payload segment. Its value represents the data type or message number carried by the frame. The field structure corresponding to each identifier value is recorded in the target protocol stack in the form of a mapping definition.

[0061] The mapping definition is a correspondence table stored in the target protocol stack. Each row of the table records the value of a message identifier bit and indicates the offset position, length, and physical meaning of each data field in the payload segment corresponding to that value.

[0062] The data field is a continuous bit segment segment that is divided from the payload segment according to the mapping definition of the message identifier bit. Each data field corresponds to a flight control parameter.

[0063] The byte order definition is a flag recorded in the target protocol stack that indicates whether the sending end of the protocol uses big-endian or little-endian order when transmitting multi-byte data.

[0064] Byte order conversion is the process of adjusting the bytes in a data field according to the byte order definition.

[0065] The raw parameter value set is the set of values ​​for each data field obtained after byte order conversion. These values ​​are the raw binary values ​​directly reported by the flight controller.

[0066] The semantic conversion of flight control parameters is based on the correspondence table between flight control parameters and physical quantities in the target protocol stack.

[0067] The original flight control dataset is a complete set of parameters after semantic transformation, with each parameter existing in the form of an engineering value.

[0068] In detail, the process involves scanning byte by byte in the communication data stream. When a frame start condition that meets the frame delimiter identifier is detected, the starting offset and total length of the payload segment are calculated based on the value of the frame length field. The byte range after the frame header and before the checksum is extracted from the frame to obtain the payload segment. Each protocol stack may use different delimitation methods, performing boundary determination and interception according to the rules within the protocol stack image.

[0069] Read the value of the message identifier field at the start of the payload segment, look up the mapping definition table of message identifiers stored in the target protocol stack, and obtain the data field layout description corresponding to the value, including the start bit position and the bit length occupied by each field. Then, following this layout, each data field is segmented from the payload segment, with each field maintaining its original byte order.

[0070] If the byte order definition indicates big-endian but the current data field is displayed in little-endian in memory, the byte order in the field will be completely reversed and rearranged. If the definition is consistent with the actual storage, it will remain as is. After the conversion is completed, the original parameter value set of each field is obtained. For each value in the original parameter value set, the flight control parameter semantic conversion is performed, and the conversion rule corresponding to the parameter in the target protocol stack is retrieved. The rule clearly records how many physical quantities correspond to a given original value. The engineering value is calculated directly from the original value according to this fixed ratio or linear relationship, and then the original value is replaced to obtain the original flight control dataset.

[0071] S3: Detect the execution validity of each data frame in the original flight control dataset according to a preset threshold range, discard the abnormal parameters that fail the verification, and obtain the valid parameter dataset that passes the verification. In this embodiment, the step of detecting the execution validity of each data frame in the original flight control dataset according to a preset threshold range, discarding abnormal parameters that fail verification, and obtaining a valid parameter dataset that passes verification includes: Extract the frame tail field of each data frame in the original flight control dataset to obtain the frame verification sequence field; Separate the payload segment from the data frame in the original flight control dataset to obtain the payload to be verified; Cyclic redundancy check (CRC) is performed on the payload to be checked to obtain a CRC check code; The cyclic redundancy check code is compared bit by bit with the frame check sequence field to obtain the frame check comparison result. Based on the frame verification comparison results, discard data frames that fail the verification to obtain a valid set of data frames; The range compliance of each flight control parameter in the valid data frame set is determined based on a preset threshold range detection. The valid parameter dataset is determined from the set of valid data frames based on the range conformity.

[0072] Specifically, a data frame is a complete record unit in the flight control raw dataset.

[0073] The frame check sequence field is a continuous segment of bits in the frame tail field specifically used to store the check code. It is usually the result of the calculation of the cyclic redundancy check code, which is calculated and filled in by the flight controller based on the payload segment when sending data frames.

[0074] The payload segment is the part of the data frame that carries the actual parameter data. It is located between the frame header and the frame tail and contains the original values ​​of multiple flight control parameters. It needs to be verified to confirm its integrity.

[0075] Cyclic redundancy check treats the payload to be checked as a binary polynomial, performs modulo-2 division on a fixed generator polynomial, and the remainder is the cyclic redundancy check code. Cyclic Redundancy Check (CRC) codes are fixed-length binary values ​​obtained after performing CRC calculations on the payload to be checked.

[0076] The valid parameter dataset is a dataset obtained after filtering based on range compliance, containing only data frames where all flight control parameters are within their respective preset threshold ranges.

[0077] In detail, each data frame in the original flight control dataset is traversed, the starting position of the frame tail field is located, and a fixed-length frame verification sequence field is extracted from the frame tail field as a reference verification code; at the same time, the payload segment located after the frame header and before the frame tail field is separated from the same data frame as the payload to be verified.

[0078] The data segment is input byte by byte into a cyclic redundancy check (CRC) calculator. The calculator has a fixed generator polynomial embedded inside. For example, the polynomial coefficient 0x8005, which is read directly from the target protocol stack, is used for CRC-16. Each bit of the payload to be checked is shifted and XORed to obtain a remainder of a fixed length as the CRC code.

[0079] Compare each bit from the most significant bit to the least significant bit. If all bits are equal, the frame check comparison result is recorded as "check passed"; otherwise, the check fails.

[0080] If the verification fails, the data frame is discarded entirely from the flight control raw dataset; if the verification passes, the data frame is retained in the set of valid data frames.

[0081] After completing the verification and filtering of all data frames, extract the values ​​of each flight control parameter in each frame of the valid data frame set, find the corresponding preset threshold range for each parameter, and determine whether the value of the parameter is greater than or equal to the lower threshold and less than or equal to the upper threshold. If all parameters in a frame meet the range requirement, the frame is retained in the valid parameter dataset; if any parameter exceeds its threshold range, the frame is discarded.

[0082] In this embodiment, the step of obtaining the preset threshold range includes: Based on the complex impedance characteristics, an interference voltage with an amplitude that increases stepwise is injected into the established physical communication link. The target protocol stack is used to perform cyclic redundancy check on the data frames returned by the flight controller under each interference amplitude to obtain an error count sequence. Extract the critical interference voltage value corresponding to the step increase of the frame check error count from zero from the error count sequence; The critical interference voltage value is used as the electrical immunity tolerance level of the physical communication link; The full-scale bit width is extracted from the data field type of each flight control parameter in the target protocol stack, and the ratio of the electrical immune tolerance level to the quantization unit of the full-scale bit width is calculated to obtain the relative tolerance ratio of the flight control parameter. The upper limit of the full scale of each flight control parameter is taken as the upper limit of the threshold by multiplying the upper limit of the relative tolerance ratio of each parameter. The lower limit of the full-scale value of the flight control parameter is obtained by multiplying it by the relative tolerance ratio. The upper threshold and the lower threshold are combined to form a preset threshold range for the flight control parameter.

[0083] Specifically, the interference voltage is an interference voltage value that increases step by step from low to high in fixed increments, used to inject into the physical communication link to test the link's anti-interference capability.

[0084] The data frame here is a complete data frame returned by the flight controller under each interference amplitude, including frame header, payload, and frame tail check field.

[0085] Cyclic Redundancy Check (CRC) uses a fixed generator polynomial to calculate the payload of a data frame, obtains a checksum, and compares it with the check field at the end of the frame to determine whether the data is corrupted.

[0086] The error counting sequence is the number of data frames that failed to pass the cyclic redundancy check for each amplitude after performing cyclic redundancy check on all data frames received under each interference amplitude.

[0087] The frame check error count is the number of data frames that failed to pass check for each amplitude step in the error count sequence.

[0088] A step increase from zero occurs in the error count sequence. As the interference amplitude increases, the frame check error count changes from 0 to non-zero, such as an instantaneous change from 0 to 1, 2 or larger values. This is not a gradual increase but a sudden jump.

[0089] The critical interference voltage value is the specific voltage value corresponding to the interference amplitude when the frame check error count jumps from zero.

[0090] The electrical immunity tolerance level is the critical interference voltage value, which is the maximum interference level that the physical communication link can tolerate. If this level is exceeded, data errors will begin to occur in the link. This value is directly equal to the critical interference voltage value.

[0091] The data field type is the data storage format defined in the target protocol stack for each flight control parameter.

[0092] Full-scale bit width is the bit width of the range of data that each data field type can represent.

[0093] The quantization unit is the numerical resolution corresponding to the full-scale bit width.

[0094] The relative tolerance ratio is a dimensionless ratio obtained after ratio conversion, used to convert the tolerance voltage of an electrical link into a scaling factor for the parameter value range.

[0095] The full-scale upper limit is the maximum physical value that the flight control parameter can take under its data field type, and the full-scale lower limit is the minimum physical value that the flight control parameter can take under its data field type.

[0096] If the parameter is a 16-bit signed integer and the quantization unit is 0.01 degrees, then the upper limit of the full scale is 32767 × 0.01 = 327.67 degrees.

[0097] Where: upper threshold = upper limit of full scale × (1 + relative tolerance ratio); lower threshold = lower limit of full scale × (1 - relative tolerance ratio); In detail, a programmable interference signal source is used to inject interference voltage into the link in a step-by-step manner, maintaining a fixed duration at each step amplitude. At the same time, the target protocol stack is used to perform cyclic redundancy check on each frame of data returned by the flight controller under the interference amplitude, recording the number of frames that failed the check at each amplitude, forming an error count sequence arranged in ascending order of amplitude.

[0098] Starting from the lowest amplitude, scan upwards to find the first amplitude value that changes the error count from 0 to greater than 0. Extract the voltage value corresponding to this amplitude as the critical interference voltage value and directly set this value as the electrical immunity tolerance level of the physical communication link.

[0099] Read the number of bits occupied by the parameter from the data structure definition of the protocol stack, and determine its quantization unit based on the data field type.

[0100] The relative tolerance ratio is obtained by dividing the volt value by the physical quantity represented by each bit. Then, for each flight control parameter, its full-scale upper limit is multiplied by the relative tolerance ratio to obtain the upper threshold; the lower threshold is obtained by multiplying the full-scale lower limit of the parameter by the relative tolerance ratio.

[0101] S4: Step by step, the effective parameter dataset is mapped according to the naming rules, converted to non-standard units of measurement, and calibrated for the acquisition accuracy to obtain a standardized parameter dataset. In this embodiment, the step-by-step mapping of the effective parameter dataset according to naming rules, conversion of non-standard units of measurement, and calibration of acquisition accuracy to obtain a standardized parameter dataset includes: The valid parameter dataset is standardized by name mapping to obtain a uniformly named dataset; The original values ​​in the unified naming dataset are converted to International System of Units (SI) to obtain a set of standard unit parameters. Zero-offset calibration is performed on the standard unit parameter set to obtain a standardized parameter dataset.

[0102] Specifically, the original name field of this parameter in the current data frame is read, and a match is searched row by row in a fixed name lookup table. The lookup table clearly lists the one-to-one correspondence between all possible original names and standard names, such as rol corresponding to roll angle and alt corresponding to height. Once found, the name of the parameter is replaced with the standard name. After all parameters are replaced, a unified naming dataset is obtained.

[0103] Based on the standard name of the parameter, determine its original unit and target SI unit, extract the fixed conversion factor between the two units, multiply the original value by the factor to obtain the value expressed in SI, and replace the original value.

[0104] For each parameter, a fixed zero offset is stored. This offset is a constant obtained by averaging the continuously read flight control output values ​​when the UAV is stationary on a horizontal surface and the flight control is in a known reference state. The zero offset is subtracted from the values ​​in the standard unit parameter set to obtain the calibrated value.

[0105] S5: Monitor the abnormal data state of the parameters in the standardized parameter dataset, and perform linear interpolation to supplement the parameters marked as abnormal data states; In this embodiment, monitoring abnormal data states of parameters in the standardized parameter dataset and performing linear interpolation to supplement parameters marked as abnormal data states includes: The continuity of the frame sequence identifiers carried in the standardized parameter dataset is checked to obtain the missing frame slots; Extract the flight control parameters and sequence identifiers corresponding to the normal frames preceding and following the missing frame gaps to locate the pre-interpolation anchor point and the post-interpolation anchor point. The interpolation slope is calculated using the difference in parameter values ​​and sequence identifier difference between the preceding and following interpolation anchor points; The linear interpolation supplement value is obtained by multiplying and accumulating the sequence offset of the missing frame gap relative to the previous interpolation anchor point and the interpolation slope. The linear interpolation supplementary value is filled into the missing frame slots corresponding to the standardized parameter dataset.

[0106] Specifically, the frame sequence identifier is a sequence number or count value that comes with each data frame in the standardized parameter dataset. It is used to identify the transmission order of the data frames and is written by the flight controller when generating the data.

[0107] The missing frame gap is the position corresponding to the missing sequence identifier when the sequence identifier difference between two adjacent frames is greater than 1, as found during continuity checks.

[0108] The preceding normal frame is the closest actually received and verified normal data frame before the missing frame gap.

[0109] Subsequent normal frames are the closest actually received and verified normal data frames that are after the missing frame gap.

[0110] The pre-interpolation anchor point is a set of data extracted from the preceding normal frame for interpolation calculation, including the frame sequence identifier value of the frame and the value of a certain flight control parameter in the frame.

[0111] The parameter difference is the difference between the flight control parameter value in the post-interpolation anchor point and the same flight control parameter value in the pre-interpolation anchor point.

[0112] The sequence identifier difference is the difference between the frame sequence identifier value in the post-interpolation anchor point and the frame sequence identifier value in the pre-interpolation anchor point.

[0113] The interpolation slope is the result of dividing the difference in parameter values ​​by the difference in sequence identifiers.

[0114] The sequence offset is the difference between the sequence identifier value of the missing frame space and the sequence identifier value of the pre-interpolated anchor point.

[0115] In detail, for each missing frame gap, the preceding normal frame and the following normal frame are extracted from the standardized parameter dataset. The values ​​of the same flight control parameter and their respective frame sequence identifiers are read from these two frames. The sequence identifier and parameter value of the preceding normal frame are positioned as the pre-interpolation anchor point, and the sequence identifier and parameter value of the following normal frame are positioned as the post-interpolation anchor point.

[0116] The parameter difference is obtained by subtracting the parameter value of the previous interpolation anchor point from the parameter value of the subsequent interpolation anchor point; the sequence identifier difference is obtained by subtracting the sequence identifier of the previous interpolation anchor point from the sequence identifier of the subsequent interpolation anchor point; and the interpolation slope is obtained by dividing the parameter difference by the sequence identifier difference.

[0117] S6: The standardized parameter dataset with completed linear interpolation and normal status is encapsulated into a general format data, and the general format data is transmitted in real time to the ground command and control platform corresponding to the UAV to complete the standardized acquisition of flight control data.

[0118] In this embodiment, the process of encapsulating the standardized parameter dataset, which has been completed by linear interpolation and is in a normal state, into a general format data set, and transmitting the general format data to the ground command and control platform corresponding to the UAV in real time, thereby completing the standardized acquisition of flight control data, includes: The standardized parameter dataset with completed linear interpolation and normal state is serialized to obtain a general format data payload. A data transmission session is established by combining the preset ground backhaul address in the docking interface parameters to obtain the downlink transmission session handle; The general format data payload is pushed and sent in real time through the downlink transmission session handle to obtain a reception completion confirmation flag.

[0119] Specifically, format serialization is the process of organizing a standardized parameter dataset stored in memory in a structured manner into a continuous stream of binary bytes or a text string according to a fixed, general data format. This general data format is predefined by the system, explicitly specifying the order and encoding method of each field in the byte stream; For example: first write the 4-byte frame sequence number, then write the 4-byte number of parameters, and then write the 1-byte name length, name string, and 4-byte single-precision floating-point value for each parameter in sequence.

[0120] A generic format data payload is a complete block of binary data or a text string obtained after format serialization.

[0121] The preset ground backhaul address is a specific network address or communication address stored in the docking interface parameters, such as a combination of IP address 192.168.1.100 and port number 14550.

[0122] A data transmission session is a logical communication channel established between the data sender and the ground command and control platform.

[0123] The downlink transmission session handle is an integer or pointer identifier returned by the operating system or communication library after a data transmission session is successfully established, used to uniquely represent that session.

[0124] In detail, according to the predetermined general data format rules, the frame sequence identifier, number of parameters, name length of each parameter, name string and corresponding value in the dataset are written into a continuous byte buffer one by one to form a complete binary data block, namely the general format data payload.

[0125] The system reads the preset ground return address from the interface parameters and establishes a data transmission session by calling the socket interface provided by the operating system according to the protocol type of the address: if it is UDP protocol, it calls the socket function to create a datagram socket and calls the connect function to bind the target address; if it is TCP protocol, it calls the socket and connect functions to initiate a three-way handshake connection. After successful establishment, the system returns a downlink transmission session handle, which is used to push and send the general format data payload in real time: continuously retrieve payload data from the buffer in a loop, call the send or sendto function to pass the data to the protocol stack, and the protocol stack sends it to the ground command and control platform through the network interface.

[0126] like Figure 2 The diagram shown is a functional block diagram of a multi-protocol compatible UAV flight control docking and data acquisition system provided in an embodiment of the present invention.

[0127] The multi-protocol compatible UAV flight control docking and data acquisition system 100 described in this invention can be installed in an electronic device. Depending on the functions implemented, the multi-protocol compatible UAV flight control docking and data acquisition system 100 may include a configuration module 101, a flight control data acquisition module 102, a verification module 103, a standard processing module 104, a supplementary module 105, and a data acquisition completion module 106. The module described in this invention can also be called a unit, which refers to a series of computer program segments that can be executed by the processor of an electronic device and can perform a fixed function, and are stored in the memory of the electronic device.

[0128] In this embodiment, the functions of each module / unit are as follows: Configuration module 101: used to configure the docking interface parameters of the flight controller in the target UAV and establish a physical communication link, and continuously receive the communication data stream output by the flight controller through the communication link; Flight control data acquisition module 102: is used to identify the protocol type through the data frame features of the communication data stream, match and load the corresponding target protocol stack based on the protocol type, and perform protocol parsing and format conversion on the communication data stream according to the target protocol stack to obtain the original flight control dataset; Verification module 103: used to detect the execution validity of each data frame in the flight control original dataset according to a preset threshold range, discard abnormal parameters that fail verification, and obtain a valid parameter dataset that passes verification; Standard processing module 104: used to perform unified naming rule mapping, non-standard unit conversion and acquisition accuracy calibration on the effective parameter dataset in steps to obtain a standardized parameter dataset; Supplementary module 105: Used to monitor abnormal data states of parameters in the standardized parameter dataset, and to perform linear interpolation supplementation on parameters marked as abnormal data states; Acquisition module 106: This module encapsulates the standardized parameter dataset that has been supplemented by linear interpolation and is in normal condition into a general format data set, and transmits the general format data to the ground command and control platform corresponding to the UAV in real time, thereby completing the standardized acquisition of flight control data.

[0129] In the several embodiments provided by this invention, it should be understood that the disclosed methods and systems can be implemented in other ways. For example, the system embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and other division methods may be used in actual implementation.

[0130] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0131] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0132] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0133] The embodiments of this application can acquire and process relevant data based on artificial intelligence technology. Artificial intelligence is the theory, method, technology, and application system that uses digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to obtain optimal results.

[0134] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A method for multi-protocol compatible UAV flight control docking and data acquisition, characterized in that, The method includes: S1: Configure the docking interface parameters of the flight controller in the target UAV and establish a physical communication link, and continuously receive the communication data stream output by the flight controller through the communication link; S2: Identify the protocol type through the data frame features of the communication data stream, match and load the corresponding target protocol stack based on the protocol type, and perform protocol parsing and format conversion on the communication data stream according to the target protocol stack to obtain the flight control raw dataset; S3: Detect the execution validity of each data frame in the original flight control dataset according to a preset threshold range, discard the abnormal parameters that fail the verification, and obtain the valid parameter dataset that passes the verification. S4: Step by step, the effective parameter dataset is mapped according to the naming rules, converted to non-standard units of measurement, and calibrated for the acquisition accuracy to obtain a standardized parameter dataset. S5: Monitor the abnormal data state of the parameters in the standardized parameter dataset, and perform linear interpolation to supplement the parameters marked as abnormal data states; S6: The standardized parameter dataset with linear interpolation completed and in normal condition is encapsulated into a general format data, and the general format data is transmitted in real time to the ground command and control platform corresponding to the UAV to complete the standardized acquisition of flight control data.

2. The method for multi-protocol compatible UAV flight control docking and data acquisition as described in claim 1, characterized in that, The configuration involves setting the interface parameters of the flight controller in the target UAV and establishing a physical communication link, continuously receiving the communication data stream output by the flight controller through the communication link, including: Continuous differential frequency sweep excitation and reflection waveform acquisition are performed on the data interaction port of the flight control system in the target UAV from low frequency to high frequency to obtain complex impedance characteristics; Based on the complex impedance characteristics, a physical communication link is determined that forms a conjugate match with the corresponding output impedance of the flight controller; The physical communication link is parsed to obtain the link synchronization parameter set; Based on the link synchronization parameter set, multi-phase oversampling decision is made on the subsequently received analog differential signals on the physical communication link, and data payload splicing is performed to obtain the communication data stream.

3. The method for multi-protocol compatible UAV flight control docking and data acquisition as described in claim 1, characterized in that, The step of identifying the protocol type through the data frame features of the communication data stream, and matching and loading the corresponding target protocol stack based on the protocol type, includes: The frame start boundary lock and frame header of the communication data stream are stripped to obtain the data frame features consisting of a synchronization header sequence and a frame length field; The data frame features are compared for consistency based on a pre-configured protocol feature identifier library to obtain the protocol type; Identify the protocol stack images belonging to the protocol stack storage partition in the protocol feature identifier library, and retrieve the protocol stack images according to the protocol type; The retrieved protocol stack image bound to the protocol type is then loaded into the UAV's parsing memory space to obtain the target protocol stack.

4. The method for multi-protocol compatible UAV flight control docking and data acquisition as described in claim 3, characterized in that, The process of parsing and converting the communication data stream according to the target protocol stack to obtain the flight control raw dataset includes: The communication data stream is segmented into payload segments based on the frame delimiter of the target protocol stack. Data fields are segmented from the payload segment according to the mapping definition of message identifier bits in the target protocol stack; The data field is converted to byte order based on the byte order definition in the target protocol stack to obtain the original parameter value set; The original parameter value set is subjected to flight control parameter semantic transformation to obtain the original flight control dataset.

5. A method for multi-protocol compatible UAV flight control docking and data acquisition as described in claim 2, characterized in that, The step involves detecting the execution validity of each data frame in the original flight control dataset according to a preset threshold range, discarding abnormal parameters that fail verification, and obtaining a valid parameter dataset that passes verification, including: Extract the frame tail field of each data frame in the original flight control dataset to obtain the frame verification sequence field; Separate the payload segment from the data frame in the original flight control dataset to obtain the payload to be verified; Cyclic redundancy check (CRC) is performed on the payload to be checked to obtain a CRC check code; The cyclic redundancy check code is compared bit by bit with the frame check sequence field to obtain the frame check comparison result. Based on the frame verification comparison results, discard data frames that fail the verification to obtain a valid set of data frames; The range compliance of each flight control parameter in the valid data frame set is determined based on a preset threshold range detection. The valid parameter dataset is determined from the set of valid data frames based on the range conformity.

6. The method for multi-protocol compatible UAV flight control docking and data acquisition as described in claim 5, characterized in that, The steps for obtaining the preset threshold range include: Based on the complex impedance characteristics, an interference voltage with an amplitude that increases stepwise is injected into the established physical communication link. The target protocol stack is used to perform cyclic redundancy check on the data frames returned by the flight controller under each interference amplitude to obtain an error count sequence. Extract the critical interference voltage value corresponding to the step increase of the frame check error count from zero from the error count sequence; The critical interference voltage value is used as the electrical immunity tolerance level of the physical communication link; The full-scale bit width is extracted from the data field type of each flight control parameter in the target protocol stack, and the ratio of the electrical immune tolerance level to the quantization unit of the full-scale bit width is calculated to obtain the relative tolerance ratio of the flight control parameter. The upper limit of the full scale of each flight control parameter is taken as the upper limit of the threshold by multiplying the upper limit of the relative tolerance ratio of each parameter. The lower limit of the full-scale value of the flight control parameter is obtained by multiplying it by the relative tolerance ratio. The upper threshold and the lower threshold are combined to form a preset threshold range for the flight control parameter.

7. The method for multi-protocol compatible UAV flight control docking and data acquisition as described in claim 1, characterized in that, The step-by-step process of unifying the naming rules, converting non-standard units of measurement, and calibrating the acquisition accuracy of the effective parameter dataset yields a standardized parameter dataset, including: The valid parameter dataset is standardized by name mapping to obtain a uniformly named dataset; The original values ​​in the unified naming dataset are converted to International System of Units (SI) to obtain a set of standard unit parameters. Zero-offset calibration is performed on the standard unit parameter set to obtain a standardized parameter dataset.

8. The method for multi-protocol compatible UAV flight control docking and data acquisition as described in claim 7, characterized in that, The monitoring of abnormal data states of parameters in the standardized parameter dataset, and the linear interpolation supplementation of parameters marked as abnormal data states, includes: The continuity of the frame sequence identifiers carried in the standardized parameter dataset is checked to obtain the missing frame slots; Extract the flight control parameters and sequence identifiers corresponding to the normal frames preceding and following the missing frame gaps to locate the pre-interpolation anchor point and the post-interpolation anchor point. The interpolation slope is calculated using the difference in parameter values ​​and sequence identifier difference between the preceding and following interpolation anchor points; The linear interpolation supplement value is obtained by multiplying and accumulating the sequence offset of the missing frame gap relative to the previous interpolation anchor point and the interpolation slope. The linear interpolation supplementary value is filled into the missing frame slots corresponding to the standardized parameter dataset.

9. A method for multi-protocol compatible UAV flight control docking and data acquisition as described in claim 1, characterized in that, The process of encapsulating the standardized parameter dataset, which has been completed through linear interpolation and is in a normal state, into a general-format data set, and transmitting this general-format data in real time to the ground control platform corresponding to the UAV, thereby completing the standardized acquisition of flight control data, includes: The standardized parameter dataset with completed linear interpolation and normal state is serialized to obtain a general format data payload. A data transmission session is established by combining the preset ground backhaul address in the docking interface parameters to obtain the downlink transmission session handle; The general format data payload is pushed and sent in real time through the downlink transmission session handle to obtain a reception completion confirmation flag.

10. A multi-protocol compatible UAV flight control docking and data acquisition system, used to implement the multi-protocol compatible UAV flight control docking and data acquisition method according to any one of claims 1-9, characterized in that, The system includes: Configuration module: used to configure the docking interface parameters of the flight controller in the target UAV and establish a physical communication link, and continuously receive the communication data stream output by the flight controller through the communication link; Flight control data acquisition module: used to identify the protocol type through the data frame features of the communication data stream, match and load the corresponding target protocol stack based on the protocol type, and perform protocol parsing and format conversion on the communication data stream according to the target protocol stack to obtain the original flight control dataset; Verification module: used to detect the execution validity of each data frame in the flight control raw dataset according to a preset threshold range, discard abnormal parameters that fail verification, and obtain a valid parameter dataset that passes verification; Standard processing module: used to perform step-by-step naming rule mapping, non-standard unit conversion and acquisition accuracy calibration on the effective parameter dataset to obtain a standardized parameter dataset; Supplement module: used to monitor abnormal data states of parameters in the standardized parameter dataset, and to perform linear interpolation to supplement the parameters marked as abnormal data states; The data acquisition module is used to encapsulate the standardized parameter dataset that has been supplemented by linear interpolation and is in normal condition into a general format data, and transmit the general format data to the ground command and control platform corresponding to the UAV in real time, thus completing the standardized acquisition of flight control data.

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