CN112034884A - Multi-mode one-station dual-control method for ground station of unmanned aerial vehicle - Google Patents
Multi-mode one-station dual-control method for ground station of unmanned aerial vehicle Download PDFInfo
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Abstract
The invention belongs to the technical field of unmanned aerial vehicle command control, and particularly relates to a multi-mode one-station dual-computer control method for an unmanned aerial vehicle ground station. Multiple one-station control dual-machine modes such as multi-seat parallel control dual-machine mode, single-seat time-sharing control dual-machine mode, multi-seat control right cooperative switching mode and the like are adopted, multiple control modes of one-station control dual-machine mode are provided for pilots, the control requirements of one-station control dual-machine mode in different task planning and control states can be met under the condition that enough safety redundancy is guaranteed, and the task concurrence processing capacity, the multi-machine cooperative scheduling capacity and the overall task execution efficiency of the system are greatly improved.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle command control, and particularly relates to a multi-mode one-station dual-computer control method for an unmanned aerial vehicle ground station.
Background
The invention relates to the field of unmanned aerial vehicle command control, wherein an unmanned aerial vehicle ground station is an important component of an unmanned aerial vehicle system and is key equipment for realizing successful reconnaissance or attack combat mission of an unmanned aerial vehicle. The number of unmanned aerial vehicles controlled by the unmanned aerial vehicle ground station simultaneously is also an important index for measuring the control capability of the unmanned aerial vehicle ground station. The traditional unmanned aerial vehicle ground station adopts a one-station-one-machine control mode, namely, one ground station commands and controls one unmanned aerial vehicle to execute tasks. The one-station one-machine control mode cannot meet the use flexibility of one-station two-machine control, the use efficiency of the unmanned aerial vehicle is reduced, and a multi-seat multi-mode one-station two-machine control method needs to be designed.
Disclosure of Invention
The invention provides a multi-mode one-station dual-machine control method for an unmanned aerial vehicle ground station, which adopts multiple one-station dual-machine control modes of multi-seat parallel control dual machines, single-seat time-sharing control dual machines, multi-seat control right cooperative switching and the like, provides multiple control modes of one-station dual machines for pilots, can meet the one-station dual-machine control requirements of different task plans and control states under the condition of ensuring enough safety redundancy, and greatly improves the task concurrent processing capability, the multi-machine cooperative scheduling capability and the overall task execution efficiency of a system.
On the basis of a traditional method for controlling one unmanned aerial vehicle ground station by one station, various one-station-control double-machine control logics and multi-mode switching logic algorithms are added, three control modes of single-seat time-sharing double-machine control, multi-seat parallel double-machine control and multi-seat control right cooperative double-machine control are realized, multi-mode multi-seat one-station-control double-machine mode switching is supported through airplane numbering and software switching right control, and the unmanned aerial vehicle ground station double-machine task concurrent control capability and the overall system task execution efficiency are improved.
Technical scheme
A method for controlling two unmanned aerial vehicle ground stations in a multi-mode one-station mode comprises the following steps:
step A, participating in seat designation:
and if two flight seats or two task seats select the same airplane number, the instruction of the main flight seat is prior to the instruction of the auxiliary flight seat, and the instruction of the main task seat is prior to the instruction of the auxiliary task seat.
Step B, selecting and setting a station-controlled dual-computer mode:
the current control mode is selected in 3 modes of single-seat time-sharing double-machine control, multi-seat parallel double-machine control and multi-seat cooperative switching double-machine control, and the current control mode is set according to the airplane number and the software switch item. If the first mode is selected, the single seat is appointed to control the single seat instruction software switch item to be switched on, and the single seat carries out time-sharing dual-machine control by selecting different airplane numbers; if the second control mode is selected, the switch item of the multi-seat parallel control dual-machine software is appointed to be turned on, and the dual-machine control is carried out on every 2 seats by selecting the same airplane number; if the 3 rd mode is selected, 4 seats are designated to control the double-machine software switch items to be switched on, every two seats select the same airplane number to cooperatively control one airplane, and 4 seats realize one-station control of double machines.
C, outputting single-group seat time-sharing control double-computer calculation:
if the selection is a single-seat time-division and time-control dual-machine mode, 1 flight seat and 1 task seat are organized into a group of control seat units, according to single-seat time-division and dual-machine control logic, a remote control flight frame is sent by adopting the flight seat in a time-division manner, a remote control task frame is sent by the task seat in a time-division manner, and the flight seat task seats all receive the way of downloading telemetering data of two machines at the same time, so that the output calculation of the single-seat time-division and time-control dual-machine operation mode of a group of seat time-division and time-control dual;
d, a plurality of groups of seats are controlled in parallel to perform double-computer calculation output:
if the selection is a multi-seat parallel control dual-machine mode, 1 flight seat and 1 task seat are coded into a group of control seats according to multi-seat parallel synchronous control dual-machine logic, the two groups of control seats are respectively provided with different target airplane numbers, remote control flight task frames of the two airplanes are sent in parallel, telemetering data are downloaded by the two airplanes in real time, and if the target airplanes selected by the two groups of control seats are the same in number and conflict, multi-seat multi-man control dual-machine operation mode output calculation is completed according to the seat priority setting;
e, multi-seat cooperative switching control dual-computer computing output:
if the selection is a multi-seat cooperative switching dual-control mode, the types of the seats can be dynamically adjusted, so that the flight seat can also send a task remote control instruction, the task seat can send the remote control instruction, and the flight task composite frame is sent by parallel combined coding according to the multi-seat control priority and the airplane number setting, the multi-seat simultaneously receives dual-computer downlink telemetering data, and the operation mode output calculation of the multi-seat cooperative switching dual-control machine is completed;
step F, one-station control dual-computer mode circular interception and iterative computation:
and circularly intercepting a one-station control dual-computer mode selection keyword according to the steps, judging the selection keyword through an instruction software mode, performing data iterative computation of the next period and repeatedly performing the computation steps.
Further, the unmanned aerial vehicle ground station multi-mode one-station control dual-machine method is determined through a physical device comprehensive test result.
Further, the software switching item in the step C is set, a target pool is formed in the seat software according to the target machine number detected by the link, and after the target machine is selected, the instruction control software performs the cooperative information processing.
Further, the time-sharing dual-computer in the step C adopts a time-sharing multiplexing technology of seat remote control.
Further, the parallel control dual-computer in the step D adopts uplink remote control and seat continuous exclusive control, and downlink adopts a multi-channel data fusion technology.
Furthermore, the multi-seat cooperative switching and dual-computer uploading remote control instruction in the step E adopts a combined coding control technology, dynamically adjusts the type of the control seat, and synchronously changes the framing structure of the flight frame and the task frame.
Further, in the step E, the multi-seat cooperative switching control dual-computer downloading telemetering data is screened through the airplane number and the seat software configuration parameter setting.
Technical effects
A multi-mode one-station-control dual-machine method for an unmanned aerial vehicle ground station is characterized in that multiple one-station-control dual-machine control logics and multi-mode switching logic algorithms are added on the basis of a traditional one-station-control-single-machine method for the unmanned aerial vehicle ground station, three control modes of single-seat time-sharing dual control, multi-seat parallel dual control and multi-seat control right cooperative dual control are realized, multi-mode multi-seat one-station-control dual-machine application is supported through visual range/satellite-communication multi-link flexible dynamic recombination, multi-mode circular interception and iterative calculation, and dual-machine task concurrency control capability of the unmanned aerial vehicle ground station is improved, so that overall task execution efficiency of a system is improved.
Detailed Description
The invention is further described below, comprising the steps of:
step A, participating in seat designation: and if the two flight seats or the two task seats select the same airplane number, the instruction of the main flight seat is prior to the instruction of the auxiliary flight seat, and the instruction of the main task seat is prior to the instruction of the auxiliary task seat.
Step B, selecting and setting a station-controlled dual-computer mode: selecting the current control mode in 3 modes of single-seat time-sharing double-machine control, multi-seat parallel double-machine control and multi-seat cooperative switching double-machine control, and carrying out corresponding setting according to the airplane number and the software switch item. If the first mode is selected, the single seat is appointed to control the single seat instruction software switch item to be opened, and the single seat carries out time-sharing dual-machine control by selecting different airplane numbers; if the second control mode is selected, the switch item of the multi-seat parallel control dual-machine software is appointed to be turned on, and the dual-machine control is carried out on every 2 seats by selecting the same airplane number; if the 3 rd mode is selected, the switch items of the software for controlling the double machines at 4 seats are appointed to be turned on, every two seats select the same airplane number to cooperatively control one airplane, and one station for controlling the double machines at 4 seats is realized.
C, outputting single-group seat time-sharing control double-computer calculation: if the selection is a single-seat time-division and time-control dual-machine mode, 1 flight seat and 1 task seat are organized into a group of control seat units, according to single-seat time-division and dual-machine control logic, a remote control flight frame is sent by adopting the flight seat in a time-division manner, a remote control task frame is sent by the task seat in a time-division manner, and the flight seat task seats all receive the way of downloading telemetering data of two machines at the same time, so that the output calculation of the single-seat time-division and time-control dual-machine operation mode of a group of seat time-division and time-control dual;
d, a plurality of groups of seats are controlled in parallel to perform double-computer calculation output: if the selection is a multi-seat parallel control dual-machine mode, 1 flight seat and 1 task seat are coded into a group of control seats according to multi-seat parallel synchronous control dual-machine logic, the two groups of control seats are respectively provided with different target airplane numbers, remote control flight task frames of the two airplanes are sent in parallel, telemetering data are downloaded by the two airplanes in real time, and if the target airplanes selected by the two groups of control seats are the same in number and conflict, multi-seat multi-man control dual-machine operation mode output calculation is completed according to the seat priority setting;
e, multi-seat cooperative switching control dual-computer computing output: if the selection is a multi-seat cooperative switching dual-control mode, the types of the seats can be dynamically adjusted, so that the flight seat can also send a task remote control instruction, the task seat can send the remote control instruction, and the flight task composite frame is sent by parallel combined coding according to the multi-seat control priority and the airplane number setting, the multi-seat simultaneously receives dual-computer downlink telemetering data, and the operation mode output calculation of the multi-seat cooperative switching dual-control machine is completed;
step F, one-station control dual-computer mode circular interception and iterative computation: and circularly intercepting a one-station control dual-computer mode selection keyword according to the steps, judging the selection keyword through an instruction software mode, performing data iterative computation of the next period and repeatedly performing the computation steps.
The unmanned aerial vehicle ground station multi-mode one-station control dual-machine method is determined through a physical device comprehensive test result.
And C, setting a software switch item, forming a target pool in the seat software according to the target machine number detected by the link, and after the target machine is selected, instructing the control software to perform cooperative information processing to complete control coding and state display switching of multiple software and multiple interfaces so that the task seat or the flight seat is converted into a human-machine control interface of the target machine.
And C, the time-sharing control double machines in the step C adopt a seat remote control time-sharing multiplexing technology, a single seat selects different target machines, remote control instructions are sent to the unmanned aerial vehicles through different transmission channels, and state data of the controlled aircraft are extracted from telemetering data downloaded by the different unmanned aerial vehicles to be output and calculated.
And D, performing uplink remote control on the parallel control dual-machine in the step D by adopting seat continuous exclusive control, and performing downlink multi-channel data fusion technology to finish cooperative monitoring on the target machine and other machines.
And E, the multi-seat cooperative switching control dual-computer uploading remote control instruction in the step E adopts a combined coding control technology, dynamically adjusts the type of the control seat, synchronously changes the framing structure of the flight frame and the task frame, performs combined coding calculation on the remote control data frames sent by the flight seat and the task seat which select the same target computer, and completes the control output calculation of the uplink remote control composite instruction.
And E, screening the telemetering data downloaded by the multi-seat cooperative switching control dual-computer through the airplane number and the seat software configuration parameter setting, and respectively displaying the telemetering data on the operating seat display and control interface of the currently controlled airplane.
Application example
The ground station of a certain unmanned aerial vehicle considers the requirement of controlling two aircrafts by one station, and introduces an aircraft identification code (aircraft type and aircraft number) for managing different aircrafts. 1 group of flight monitoring seats, 1 group of task planning seats (the software and hardware configuration is the same as that of the flight monitoring seats) and 2 groups of task monitoring seats are arranged in the command control, and the 1 group of flight monitoring seats (or the task planning seats) and the 1 group of task monitoring seats form a unit, and complete the full-task command control of 1 unmanned aerial vehicle respectively; under the emergency condition, 1 group of flight monitoring seats (or mission planning seats) can complete command control of 2 unmanned aerial vehicles in a time-sharing manner.
Claims (8)
1. A method for controlling two unmanned aerial vehicle ground stations in a multi-mode one-station mode is characterized by comprising the following steps:
step A, participating in seat designation:
appointing the control seats participating in the control of the double machines, configuring the control seats into two task seats of two flight seats, appointing the priority of control instructions in software,
step B, selecting and setting a station-controlled dual-computer mode:
selecting a current control mode in 3 modes of single-seat time-sharing double-machine control, multi-seat parallel double-machine control and multi-seat cooperative switching double-machine control, and setting according to the airplane number and a software switch item; if the first mode is selected, the single seat is appointed to control the single seat instruction software switch item to be switched on, and the single seat carries out time-sharing dual-machine control by selecting different airplane numbers; if the second control mode is selected, the switch item of the multi-seat parallel control dual-machine software is appointed to be turned on, and the dual-machine control is carried out on every 2 seats by selecting the same airplane number; if the 3 rd mode is selected, 4 seats are designated to control the double-machine software switch items to be switched on, every two seats select the same airplane number to cooperatively control one airplane, and 4 seats realize one-station control of double machines;
c, outputting single-group seat time-sharing control double-computer calculation:
if the selection is a single-seat time-division and time-control dual-machine mode, 1 flight seat and 1 task seat are organized into a group of control seat units, according to single-seat time-division and dual-machine control logic, a remote control flight frame is sent by adopting the flight seat in a time-division manner, a remote control task frame is sent by the task seat in a time-division manner, and the flight seat task seats all receive the way of downloading telemetering data of two machines at the same time, so that the output calculation of the single-seat time-division and time-control dual-machine operation mode of a group of seat time-division and time-control dual;
d, a plurality of groups of seats are controlled in parallel to perform double-computer calculation output:
if the selection is a multi-seat parallel control dual-machine mode, 1 flight seat and 1 task seat are coded into a group of control seats according to multi-seat parallel synchronous control dual-machine logic, the two groups of control seats are respectively provided with different target airplane numbers, remote control flight task frames of the two airplanes are sent in parallel, telemetering data are downloaded by the two airplanes in real time, and if the target airplanes selected by the two groups of control seats are the same in number and conflict, multi-seat multi-man control dual-machine operation mode output calculation is completed according to the seat priority setting;
e, multi-seat cooperative switching control dual-computer computing output:
if the selection is a multi-seat cooperative switching dual-control mode, the types of the seats can be dynamically adjusted, so that the flight seat can also send a task remote control instruction, the task seat can send the remote control instruction, and the flight task composite frame is sent by parallel combined coding according to the multi-seat control priority and the airplane number setting, the multi-seat simultaneously receives dual-computer downlink telemetering data, and the operation mode output calculation of the multi-seat cooperative switching dual-control machine is completed;
step F, one-station control dual-computer mode circular interception and iterative computation:
and circularly intercepting a one-station control dual-computer mode selection keyword according to the steps, judging the selection keyword through an instruction software mode, performing data iterative computation of the next period and repeatedly performing the computation steps.
2. The method of claim 1, wherein the method is determined by a physical device test result.
3. The method as claimed in claim 1, wherein the software switch item in step C is set to form a target pool in the seat software according to the target aircraft number detected by the link, and after the target aircraft is selected, the software is instructed to perform cooperative information processing.
4. The method of claim 1, wherein the time-sharing multiplexing technology of seat remote control is adopted in the time-sharing control dual-computer in step C.
5. The method according to claim 1, wherein the parallel dual-control unit in step D employs uplink remote control and seat persistent exclusive control, and downlink multi-channel data fusion technology.
6. The method as claimed in claim 1, wherein the multi-seat cooperative switching and dual-control dual-computer uploading remote control command in step E adopts a combined coding control technique to dynamically adjust the type of the control seat and synchronously change the framing structure of the flight frame and the task frame.
7. The method as claimed in claim 1, wherein in step E, the multi-seat cooperative switching control dual-computer downloading telemetry data is screened by airplane number and seat software configuration parameter setting.
8. The method according to claim 1, wherein in step a, if two flight seats or two mission seats select the same airplane number, the primary flight seat command is prior to the secondary flight seat command, and the primary mission seat command is prior to the secondary mission seat command.
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| CN112947568A (en) * | 2021-03-09 | 2021-06-11 | 四川腾盾科技有限公司 | Long-endurance large-scale unmanned aerial vehicle aerial dynamic access control method |
| CN112947568B (en) * | 2021-03-09 | 2022-10-25 | 四川腾盾科技有限公司 | Long-endurance large-scale unmanned aerial vehicle aerial dynamic access control method |
| CN113703477A (en) * | 2021-08-26 | 2021-11-26 | 北京宇系航通科技有限公司 | Automatic seat switching system and method |
| CN113703477B (en) * | 2021-08-26 | 2024-03-12 | 北京北航天宇长鹰无人机科技有限公司 | Automatic seat switching system and method |
| CN113448352A (en) * | 2021-09-01 | 2021-09-28 | 四川腾盾科技有限公司 | Double-machine control system of large unmanned aerial vehicle command control station |
| CN114866500A (en) * | 2022-04-01 | 2022-08-05 | 中国卫星海上测控部 | Real-time optimization method for multi-source telemetering position control instruction |
| CN114866500B (en) * | 2022-04-01 | 2024-04-23 | 中国卫星海上测控部 | Real-time optimization method for multisource remote control commands |
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