CN113485435B - Heterogeneous multi-unmanned aerial vehicle monitoring system and method - Google Patents
Heterogeneous multi-unmanned aerial vehicle monitoring system and method Download PDFInfo
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Abstract
The invention discloses a heterogeneous multi-unmanned aerial vehicle monitoring system which comprises a monitoring center host, data acquisition equipment, communication hardware equipment, a monitoring computer and multi-unmanned aerial vehicle monitoring software, wherein the monitoring center host establishes data connection with a plurality of unmanned aerial vehicle monitoring groups through a switch, each unmanned aerial vehicle monitoring group comprises the data acquisition equipment, the communication hardware equipment and the monitoring computer, and the monitoring computer runs the multi-unmanned aerial vehicle monitoring software and is connected with an unmanned aerial vehicle ground control station. The method comprises three steps of system networking, monitoring system setting and unmanned aerial vehicle monitoring operation. The system and the method can realize information communication interaction among unmanned aerial vehicle systems and between the multi-unmanned aerial vehicle system and a command center, and realize state monitoring and task planning of heterogeneous multi-unmanned aerial vehicle systems with different evacuation configuration and model performances, so that airspace resource allocation and management and control of the heterogeneous multi-unmanned aerial vehicle systems in a complex environment are optimized, and safe and efficient monitoring of the multi-unmanned aerial vehicle is realized.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle task planning, in particular to a heterogeneous multi-unmanned aerial vehicle monitoring system and method.
Background
When performing tasks such as field emergency rescue, military exercises, environmental monitoring and the like, a single unmanned aerial vehicle platform is limited by performances such as action radius, endurance time, practical limit rise and task load, and the like, the actual task requirements are often difficult to meet, and a plurality of unmanned aerial vehicle systems with different evacuation configurations at different bases or matrixes, models and performances are required to be intensively applied. In order to realize safe and efficient cooperative application of complex heterogeneous multi-unmanned aerial vehicles with different unmanned aerial vehicle evacuation configurations and model performances, temporary construction of the multi-unmanned aerial vehicle air management station is urgently needed, airspace dynamic information of the multi-unmanned aerial vehicle is mastered in time, and task allocation and track planning of the multi-unmanned aerial vehicle are dynamically coordinated.
Currently, single-unmanned aerial vehicle ground stations can only realize single-machine or double-machine monitoring, unmanned aerial vehicle operation mainly uses single-unmanned aerial vehicle system operation, and centralized state monitoring of heterogeneous multi-unmanned aerial vehicles with different evacuation configuration and model performances lacks means. In the process of executing special emergency rescue, exercise, environment monitoring and other tasks, airspace resources are very crowded, a single unmanned aerial vehicle ground station can only monitor the state of a single unmanned aerial vehicle in real time, voice telephone communication information is relied on between unmanned aerial vehicle systems and a command center, and heterogeneous multi-unmanned aerial vehicle information monitoring platforms and equipment are lacked.
Therefore, in view of this current situation, research and development of a heterogeneous multi-unmanned aerial vehicle monitoring system and method are needed to meet application requirements.
Disclosure of Invention
The invention discloses a phased multi-base unmanned aerial vehicle task allocation and track planning method, which aims to solve the problems in the prior art.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a heterogeneous many unmanned aerial vehicle monitored control system, includes monitoring center host computer, data acquisition equipment, communication hardware equipment, supervisory control computer and many unmanned aerial vehicle supervisory control software, the monitoring center host computer passes through switch and a plurality of unmanned aerial vehicle supervisory control group and establishes data connection, and unmanned aerial vehicle supervisory control group all includes communication hardware equipment, data acquisition equipment and supervisory control computer, and supervisory control computer operation many unmanned aerial vehicle supervisory control software, and unmanned aerial vehicle supervisory control group's communication hardware equipment establishes data connection with at least one supervisory control computer respectively, supervisory control computer passes through data acquisition equipment and unmanned aerial vehicle ground control station and establishes data connection.
Preferably, the data acquisition device comprises an image acquisition hardware sub-module and a telemetry data acquisition hardware sub-module, wherein the image acquisition hardware sub-module comprises an image acquisition card, an interface conversion device and a connection cable, and the connection cable is respectively and electrically connected with the image acquisition card and the interface conversion device; the telemetry data acquisition hardware submodule comprises a switch, character recognition equipment and a connecting cable.
Preferably, the communication hardware equipment comprises any one or more of twisted pair communication, optical fiber communication, ethernet remote transmission+covered wire communication, microwave relay and satellite communication.
A construction method of a heterogeneous multi-unmanned aerial vehicle monitoring system comprises the following steps:
the method comprises the steps of S1, networking a system, namely firstly, constructing a communication network between a plurality of unmanned aerial vehicle systems and a command center and between unmanned aerial vehicle systems by taking a plurality of unmanned aerial vehicle command centers as the monitoring network centers and taking each unmanned aerial vehicle monitoring group as a node according to the number and the type of unmanned aerial vehicles participating in a task, a flight task and environmental conditions of a task area, wherein the monitoring center is connected with the unmanned aerial vehicle monitoring groups through a switch, each unmanned aerial vehicle monitoring group is matched with at least one unmanned aerial vehicle system, then, data acquisition equipment, communication hardware equipment, a monitoring computer and an unmanned aerial vehicle ground control station are connected to form corresponding unmanned aerial vehicle monitoring groups, and each unmanned aerial vehicle monitoring group is connected with the monitoring center by establishing data connection to complete system connection networking;
s2, setting a monitoring system, wherein after the step S1 is completed, a monitoring host and each monitoring computer operate multi-unmanned aerial vehicle monitoring software, data acquisition, communication network, multi-unmanned aerial vehicle management and other settings of the monitoring software are completed, and online operation of a software system is completed;
s3, unmanned aerial vehicle monitoring operation; in the unmanned aerial vehicle flight preparation process, a monitoring host machine utilizes multi-unmanned aerial vehicle monitoring software to realize multi-unmanned aerial vehicle pre-mission planning, unmanned aerial vehicle flight mission planning schemes are respectively pushed to corresponding unmanned aerial vehicle monitoring groups, a monitoring computer of each unmanned aerial vehicle monitoring group further accurately plans the received flight mission planning schemes, and the mission allocation and the flight path planning schemes of unmanned aerial vehicles in the monitoring groups are clearly determined and sent to corresponding unmanned aerial vehicle ground control stations; in the process of executing tasks by unmanned aerial vehicles, each unmanned aerial vehicle monitoring group collects and shares real-time state data of the unmanned aerial vehicle, each unmanned aerial vehicle and a monitoring center can monitor the flight state of multiple unmanned aerial vehicles in the area in real time, master the air condition information of the unmanned aerial vehicles in the area, the monitoring center and each monitoring computer communicate in time and conduct task re-planning according to dynamic change situation, the monitoring center is responsible for rough planning of the tasks of the multiple unmanned aerial vehicles, each monitoring computer is responsible for fine planning of the tasks of the corresponding unmanned aerial vehicles, and the flight route and task allocation targets of the unmanned aerial vehicles are updated in time.
Further, in the step S2, the multi-unmanned aerial vehicle monitoring software system includes a multi-unmanned aerial vehicle management sub-module, a map operation sub-module, a multi-unmanned aerial vehicle task allocation sub-module, a multi-unmanned aerial vehicle track planning sub-module, an unmanned aerial vehicle status display sub-module and a data reporting sub-module.
Further, in the step S2, the data acquisition device includes an image acquisition hardware sub-module and a telemetry data acquisition hardware sub-module.
Further, the image acquisition hardware submodule comprises an image acquisition card and interface conversion equipment, and the interface conversion equipment is any one or more of VGA, VGA-to-HDMI+VGA, BNC-to-AV interface conversion equipment and the like; the telemetering data acquisition hardware module comprises a network cable, a switch and character recognition equipment.
The invention can effectively realize information communication interaction between unmanned aerial vehicle systems and between the multi-unmanned aerial vehicle system and a command center, realize the requirement of state monitoring operation of heterogeneous multi-unmanned aerial vehicle systems with different evacuation configuration and model performances, simultaneously realize data acquisition of unmanned aerial vehicles with different models, construct means for transmitting and monitoring images and telemetering data of the heterogeneous multi-unmanned aerial vehicle, realize task planning of the heterogeneous multi-unmanned aerial vehicle, and further realize airspace resource allocation and management and control of the heterogeneous multi-unmanned aerial vehicle systems under the optimized complex environment, and realize the purpose of safe and efficient monitoring of the multi-unmanned aerial vehicle.
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FIG. 1 is a schematic flow chart of the method of the present invention;
FIG. 2 is a system architecture of the present invention;
FIG. 3 is a diagram of the hardware components of the system of the present invention;
FIG. 4 is a diagram of the system software components of the present invention;
FIG. 5 is a system software flow according to the present invention;
FIG. 6 is a state monitoring interface of the present invention;
FIG. 7 is a task allocation interface of the present invention;
FIG. 8 is a track planning interface of the present invention.
Detailed Description
The invention will be better understood from the following examples. However, it will be readily appreciated by those skilled in the art that the description of the embodiments is provided for illustration only and should not limit the invention as described in detail in the claims.
As shown in fig. 1-8, a heterogeneous multi-unmanned aerial vehicle monitoring system comprises a monitoring center host, data acquisition equipment, communication hardware equipment, a monitoring computer and multi-unmanned aerial vehicle monitoring software, wherein the monitoring center host establishes data connection with a plurality of unmanned aerial vehicle monitoring groups through a switch, each unmanned aerial vehicle monitoring group comprises the communication hardware equipment, the data acquisition equipment and the monitoring computer, the monitoring computer runs the multi-unmanned aerial vehicle monitoring software, the communication hardware equipment of each unmanned aerial vehicle monitoring group establishes data connection with at least one monitoring computer, and the monitoring computer establishes data connection with an unmanned aerial vehicle ground control station through the data acquisition equipment.
Preferably, the data acquisition device comprises an image acquisition hardware sub-module and a telemetry data acquisition hardware sub-module, wherein the image acquisition hardware sub-module comprises an image acquisition card, an interface conversion device and a connection cable, and the connection cable is respectively and electrically connected with the image acquisition card and the interface conversion device; the telemetry data acquisition hardware submodule comprises a switch, character recognition equipment and a connecting cable.
Preferably, the communication hardware equipment comprises any one or more of twisted pair communication, optical fiber communication, ethernet remote transmission+covered wire communication, microwave relay and satellite communication.
A construction method of a heterogeneous multi-unmanned aerial vehicle monitoring system comprises the following steps:
the method comprises the steps of S1, networking a system, namely firstly, constructing a communication network between a plurality of unmanned aerial vehicle systems and a command center and between unmanned aerial vehicle systems by taking a plurality of unmanned aerial vehicle command centers as the monitoring network centers and taking each unmanned aerial vehicle monitoring group as a node according to the number and the type of unmanned aerial vehicles participating in a task, a flight task and environmental conditions of a task area, wherein the monitoring center is connected with the unmanned aerial vehicle monitoring groups through a switch, each unmanned aerial vehicle monitoring group is matched with at least one unmanned aerial vehicle system, then, data acquisition equipment, communication hardware equipment, a monitoring computer and an unmanned aerial vehicle ground control station are connected to form corresponding unmanned aerial vehicle monitoring groups, and each unmanned aerial vehicle monitoring group is connected with the monitoring center by establishing data connection to complete system connection networking;
s2, setting a monitoring system, wherein after the step S1 is completed, a monitoring host and each monitoring computer operate multi-unmanned aerial vehicle monitoring software, data acquisition, communication network, multi-unmanned aerial vehicle management and other settings of the monitoring software are completed, and online operation of a software system is completed;
s3, unmanned aerial vehicle monitoring operation; in the unmanned aerial vehicle flight preparation process, a monitoring host machine utilizes multi-unmanned aerial vehicle monitoring software to realize multi-unmanned aerial vehicle pre-mission planning, unmanned aerial vehicle flight mission planning schemes are respectively pushed to corresponding unmanned aerial vehicle monitoring groups, a monitoring computer of each unmanned aerial vehicle monitoring group further accurately plans the received flight mission planning schemes, and the mission allocation and the flight path planning schemes of unmanned aerial vehicles in the monitoring groups are clearly determined and sent to corresponding unmanned aerial vehicle ground control stations; in the process of executing tasks by unmanned aerial vehicles, each unmanned aerial vehicle monitoring group collects and shares real-time state data of the unmanned aerial vehicle, each unmanned aerial vehicle and a monitoring center can monitor the flight state of multiple unmanned aerial vehicles in the area in real time, master the air condition information of the unmanned aerial vehicles in the area, the monitoring center and each monitoring computer communicate in time and conduct task re-planning according to dynamic change situation, the monitoring center is responsible for rough planning of the tasks of the multiple unmanned aerial vehicles, each monitoring computer is responsible for fine planning of the tasks of the corresponding unmanned aerial vehicles, and the flight route and task allocation targets of the unmanned aerial vehicles are updated in time.
In this embodiment, in step S2, the multi-unmanned aerial vehicle monitoring software system includes a multi-unmanned aerial vehicle management sub-module, a map operation sub-module, a multi-unmanned aerial vehicle task allocation sub-module, a multi-unmanned aerial vehicle track planning sub-module, an unmanned aerial vehicle status display sub-module and a data reporting sub-module.
The multi-unmanned aerial vehicle monitoring software realizes the functions of multi-unmanned aerial vehicle management, track planning, task allocation, unmanned aerial vehicle state monitoring and the like, and realizes situation awareness and command control of unmanned aerial vehicles in the whole task area.
The workflow of the multi-unmanned aerial vehicle monitoring software mainly comprises links such as initial setting, network connection, data acquisition, state monitoring, task allocation, track planning, result reporting and the like. The initial setting is to realize multi-unmanned aerial vehicle management parameter setting, threat parameter setting, task planning parameter setting and the like; the network communication is used for realizing the network setting and data interactive transmission between each monitoring computer and between the monitoring computer and the corresponding unmanned aerial vehicle ground station; the data acquisition is to acquire and transmit images and telemetry data of each unmanned aerial vehicle ground station to a monitoring center; the state monitoring means that each monitoring computer realizes the real-time state monitoring of the multi-unmanned aerial vehicle system; task allocation refers to task allocation of each unmanned aerial vehicle by a monitoring center, wherein the task allocation comprises pre-allocation of tasks before flight and dynamic allocation of tasks in flight; the track planning is that a monitoring center or each monitoring computer avoids threat areas according to the allocated tasks, and determines the optimal flight track, wherein the track planning comprises pre-flight track planning and in-flight track dynamic planning; the result report refers to the generation report of important flight states and reporting of results. The specific flow is as follows:
(1) and managing the sub-modules by using multiple unmanned aerial vehicles. The module functions mainly comprise an interface function and a management function, wherein the interface function mainly comprises communication link maintenance, information receiving, information forwarding and the like, and the management function mainly comprises task management, resource management, member management and the like. The multi-unmanned aerial vehicle management submodule inputs task information, resource information, member information and the like to the track planning and task allocation submodule.
(2) And a map operation sub-module. The module function is mainly to realize the visualization of the digital map and construct two-dimensional and three-dimensional map scenes of task planning. The map operation module realizes loading of elevation data and image data based on open source software library OSG/OSGEarth development, and establishes digital earth with reality. The geographic information system component can dynamically load map data in a hierarchical manner, supports functions of labeling, measurement, map roaming and the like, has rich two-dimensional and three-dimensional map display elements, provides geographic information for monitoring multiple unmanned aerial vehicles and constructs a visual display platform.
(3) And a state monitoring sub-module. The module function is mainly used for displaying the state parameters of the unmanned aerial vehicle, and visual real-time monitoring of multiple unmanned aerial vehicles is realized. In the software status display area, the unmanned aerial vehicle position, attitude, speed, image, etc. are displayed and the course is plotted on a digital map. As shown in fig. 6, which is a state monitoring software interface, the state monitoring mainly comprises the following operation steps: and selecting the number ID of the unmanned aerial vehicle, connecting the network, and displaying parameters and images in a display area.
(4) The task allocation sub-module. The module function is mainly an unmanned aerial vehicle task model construction and task distribution function, and is used for realizing pre-distribution of tasks before flight and dynamic task distribution in flight, so that a high-efficiency and reasonable task distribution scheme is obtained. The task allocation module supports automatic generation of task allocation results and also has a manual operation function of task adjustment. As shown in fig. 7, which is a task allocation software interface, the task allocation main operation steps include: clicking the task allocation menu, loading the data file in the task allocation sub-window, clicking and selecting the task allocation algorithm, and displaying the allocation result in a graphical form in a display area.
(5) And a track planning sub-module. The module functions mainly realize functions such as unmanned aerial vehicle track model construction, track planning and the like, and realize pre-flight track planning and in-flight track dynamic planning, so that a safe and effective flight track is obtained. The track planning module supports automatic course generation and also has the manual operation functions of course point insertion, deletion, adjustment, inquiry and the like. As shown in fig. 8, which is a software interface for track planning, the main operation steps of track planning include: clicking a track planning menu, sequentially clicking unmanned aerial vehicle selection, target selection, threat plotting, course estimation, task allocation, track searching, track adjustment, track smoothing and the like on a track planning sub-window, and drawing a task planning result on a digital map.
(6) And a result reporting sub-module. The module function is mainly to realize the storage and output of the state monitoring result. Key data results of state monitoring and task planning are generated in a chart form, and the results are saved and output.
Meanwhile, in the step S2, the data acquisition device includes an image acquisition hardware sub-module and a telemetry data acquisition hardware sub-module.
The principle architecture and the operation steps are as follows: acquiring images and telemetry data of ground control stations of unmanned aerial vehicles of different models through data acquisition equipment, and inputting the images and telemetry data into a terminal monitoring computer; the monitoring computers of all terminals and the monitoring center computer construct a communication network, and the information distribution of the multiple unmanned aerial vehicles and the monitoring center is realized by adopting networking such as a switch, a remote transmission, an optical transceiver, wireless communication equipment and the like.
The system is mainly used for realizing data acquisition of a multi-unmanned aerial vehicle system, acquiring images and telemetry data of the multi-unmanned aerial vehicle from unmanned aerial vehicle ground control stations of different models through data acquisition equipment, transmitting the images and telemetry data to a monitoring computer and monitoring software through a data transmission network, and providing a required data information source for multi-unmanned aerial vehicle state monitoring and task planning.
The data acquisition hardware module mainly comprises an image acquisition hardware sub-module, a telemetry data acquisition hardware sub-module and the like, and the design of the data acquisition hardware module needs to mainly consider the universality and the expandability of a data interface, so that the data acquisition system can adapt to the data acquisition modes of different unmanned aerial vehicle systems.
The image acquisition hardware submodule further comprises an image acquisition card, interface conversion equipment, a connecting cable and the like. The image acquisition card is used for acquiring video images received by the ground station of the unmanned aerial vehicle, and a high-definition acquisition card supporting a plurality of data input interfaces such as HDMI, SDI, DVI, AV, VGA and the like is selected so as to adapt to unmanned aerial vehicle systems of different models; the interface conversion equipment mainly converts a special interface of the ground control station of the unmanned aerial vehicle into a collectable general interface, such as an aviation special interface conversion equipment for converting VGA, VGA into HDMI+VGA, BNC into AV and the like, the output interfaces of different ground control stations of the unmanned aerial vehicle are different, and part of unmanned aerial vehicles adopt special interfaces and need to perform interface conversion. It should be noted that if the ground station of the unmanned aerial vehicle is reserved with a video image output interface, image acquisition can be performed through the output interface; if the unmanned aerial vehicle ground station has no reserved interface, one path of output video can be led out through a one-to-two converter by using a video cable in the ground control station.
The telemetering data acquisition hardware module mainly comprises network cables, switches, character recognition equipment and the like, and can adopt modes of telemetering data protocol analysis, network file sharing, telemetering parameter screen character automatic recognition, manual input, single-receiving station receiving and the like. The telemetry data to be collected mainly comprises parameters such as attitude angle, position information, height, speed and the like of the aircraft, and a specific collection method is flexibly selected by combining actual configuration of ground control stations of different types of unmanned aerial vehicles. The telemetry data protocol analysis mode is based on protocol analysis and receiving telemetry data flow under the condition of known telemetry data communication protocol, the method requires that the communication protocol can be acquired from unmanned plane manufacturers, and the type, the number of bits, the sign, the reference coordinate system and the like of telemetry data packets need to be paid attention to during data analysis. The network file sharing mode is to share the telemetry data file stored by the unmanned aerial vehicle ground control station through the network, the unmanned aerial vehicle ground control station usually stores the telemetry data in real time or periodically, the monitoring computer and the unmanned aerial vehicle ground control station are networked, the data file is monitored and read through the sharing mode, and when the telemetry data file updates data, the updated unmanned aerial vehicle telemetry data is timely collected. The automatic identification mode of the remote measurement parameter screen text is that the monitoring screen of the ground control station is collected through an image collection card, the aircraft parameter data on the screen is detected and identified through a digital identification technology, if the unmanned plane ground control station comprises a plurality of monitoring screens, one monitoring screen cannot comprise complete remote measurement data, a plurality of screens can be collected through a plurality of collection channels, and digital identification is respectively carried out on a plurality of interfaces to obtain complete remote measurement data; the manual input mode is that data is manually input by a monitoring computer of the unmanned aerial vehicle, and the data is forwarded; the single-receiving station receiving mode is to receive the single-receiving station through erecting wireless data and output the data to the monitoring computer through the single-receiving station.
In addition, when the communication hardware equipment is in operation, the multi-unmanned aerial vehicle ground control station and the monitoring center are provided with a monitoring computer, a hardware platform for operating multi-unmanned aerial vehicle monitoring software is built, and the monitoring computer adopts a portable industrial personal computer. And a communication network is constructed among all the monitoring computers to realize information sharing, equipment networking such as remote transmission equipment, a switch, an optical transceiver, wireless transmission equipment and the like is adopted, and the information transmission between a multi-unmanned-aerial-vehicle system and a monitoring center is satisfied.
Short-range network data transmission is completed by adopting a switch and twisted pair network cable connection, but the twisted pair cable generates serious network signal attenuation and distortion when the transmission distance exceeds 100 meters, and the stability and the effectiveness of data transmission are greatly compromised. The long-distance transmission can be considered to adopt optical fiber transmission, and the optical fiber has the advantages of long communication distance, large capacity, small attenuation and no electromagnetic noise interference, but the optical fiber has the problems of complex layout steps, complex maintenance work, more matched equipment, higher use cost and the like when being used in a field environment. The remote transmission can also consider a remote network transmission scheme adopting Ethernet remote transmission and a covered wire, and the scheme has the advantages of less equipment, convenient circuit arrangement, simple equipment connection, higher economic benefit and the like. The long-distance transmission can also consider the wireless transmission modes such as access microwave relay, satellite communication and the like. In practical application, a communication transmission mode is determined according to the layout conditions and the distance of the unmanned aerial vehicle control station.
The invention can effectively realize information communication interaction between unmanned aerial vehicle systems and between the multi-unmanned aerial vehicle system and a command center, realize the requirement of state monitoring operation of heterogeneous multi-unmanned aerial vehicle systems with different evacuation configuration and model performances, simultaneously realize data acquisition of unmanned aerial vehicles with different models, construct means for transmitting and monitoring images and telemetering data of the heterogeneous multi-unmanned aerial vehicle, realize task planning of the heterogeneous multi-unmanned aerial vehicle, and further realize airspace resource allocation and management and control of the heterogeneous multi-unmanned aerial vehicle systems under the optimized complex environment, and realize the purpose of safe and efficient monitoring of the multi-unmanned aerial vehicle.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. The heterogeneous multi-unmanned aerial vehicle monitoring system is characterized by comprising a monitoring center host, data acquisition equipment, communication hardware equipment, a monitoring computer and multi-unmanned aerial vehicle monitoring software, wherein the monitoring center host establishes data connection with a plurality of unmanned aerial vehicle monitoring groups through a switch, each unmanned aerial vehicle monitoring group comprises the communication hardware equipment, the data acquisition equipment and the monitoring computer, the monitoring computer runs the multi-unmanned aerial vehicle monitoring software, the communication hardware equipment of each unmanned aerial vehicle monitoring group respectively establishes data connection with at least one monitoring computer, and the monitoring computer establishes data connection with an unmanned aerial vehicle ground control station through the data acquisition equipment;
the data acquisition equipment comprises an image acquisition hardware sub-module and a telemetry data acquisition hardware sub-module, wherein the image acquisition hardware sub-module comprises an image acquisition card, interface conversion equipment and a connecting cable, and the connecting cable is respectively and electrically connected with the image acquisition card and the interface conversion equipment; the telemetry data acquisition hardware submodule comprises a switch, character recognition equipment and a connecting cable;
the construction method of the heterogeneous multi-unmanned aerial vehicle monitoring system comprises the following steps: the method comprises the steps of S1, networking a system, namely firstly, constructing a communication network between a plurality of unmanned aerial vehicle systems and a command center and between unmanned aerial vehicle systems by taking a plurality of unmanned aerial vehicle command centers as network monitoring centers and taking each unmanned aerial vehicle monitoring group as a node according to the number and the type of unmanned aerial vehicles participating in a task, flight tasks and environmental conditions of a task area, wherein the monitoring centers are connected with the unmanned aerial vehicle monitoring groups through switches, each unmanned aerial vehicle monitoring group is matched with at least one unmanned aerial vehicle system, then, connecting data acquisition equipment, communication hardware equipment, a monitoring computer and an unmanned aerial vehicle ground control station to form corresponding unmanned aerial vehicle monitoring groups, and each unmanned aerial vehicle monitoring group is connected with the monitoring center by data to complete system connection networking;
s2, setting a monitoring system, wherein after the step S1 is completed, a monitoring host and each monitoring computer operate multi-unmanned aerial vehicle monitoring software to complete data acquisition, communication network and multi-unmanned aerial vehicle management setting of the monitoring software and complete online operation of a software system;
s3, unmanned aerial vehicle monitoring operation; in the unmanned aerial vehicle flight preparation process, a monitoring host machine utilizes multi-unmanned aerial vehicle monitoring software to realize multi-unmanned aerial vehicle pre-mission planning, unmanned aerial vehicle flight mission planning schemes are respectively pushed to corresponding unmanned aerial vehicle monitoring groups, a monitoring computer of each unmanned aerial vehicle monitoring group further accurately plans the received flight mission planning schemes, and the mission allocation and the flight path planning schemes of unmanned aerial vehicles in the monitoring groups are clearly determined and sent to corresponding unmanned aerial vehicle ground control stations; in the process of executing tasks by unmanned aerial vehicles, each unmanned aerial vehicle monitoring group acquires and shares real-time state data of the unmanned aerial vehicle, each unmanned aerial vehicle and a monitoring center can monitor the flight state of multiple unmanned aerial vehicles in an area in real time, master the air condition information of the unmanned aerial vehicles in the area, the monitoring center and each monitoring computer communicate in time according to dynamic change situation and conduct task re-planning, the monitoring center is in charge of rough planning of the tasks of the multiple unmanned aerial vehicles, each monitoring computer is in charge of fine planning of the tasks of the corresponding unmanned aerial vehicles, and the flight route and task allocation targets of the unmanned aerial vehicles are updated in time;
in the step S2, the multi-unmanned aerial vehicle monitoring software system comprises a multi-unmanned aerial vehicle management sub-module, a map operation sub-module, a multi-unmanned aerial vehicle task allocation sub-module, a multi-unmanned aerial vehicle track planning sub-module, an unmanned aerial vehicle state display sub-module and a data reporting sub-module;
the multi-unmanned aerial vehicle management sub-module comprises an interface function and a management function, and the structural functions are communication link maintenance, information receiving and information forwarding; the management functions are task management, resource management and member management; the multi-unmanned aerial vehicle management submodule inputs task information, resource information and member information to the track planning and task allocation submodule;
the map operation submodule is used for realizing the visualization of the digital map and constructing two-dimensional and three-dimensional map scenes of task planning; the map operation module realizes loading of elevation data and image data based on OSG/SOFEarth development, and establishes digital earth with reality;
the unmanned aerial vehicle state display submodule is used for displaying unmanned aerial vehicle state elucidation, realizing the visual real-time monitoring of multiple unmanned aerial vehicles, and displaying unmanned aerial vehicle position, gesture, speed and image information in a software state display area; and plotting the course on digital earth;
the task allocation sub-module is used for unmanned aerial vehicle task model construction and task allocation, and is used for realizing pre-allocation of tasks before flight and dynamic allocation of tasks in flight, so that a high-efficiency and reasonable task allocation scheme is obtained;
the flight path planning submodule is used for realizing unmanned aerial vehicle flight path model construction and flight path planning, and realizing pre-flight path planning and dynamic flight path planning in flight to obtain a safe and effective flight path;
the result report sub-module is used for realizing the storage and output of the state monitoring result, generating key data results of state monitoring and task planning in a chart form, and storing and outputting the results;
in the step S2, the data acquisition equipment comprises an image acquisition hardware sub-module and a telemetry data acquisition hardware sub-module;
the image acquisition hardware submodule comprises an image acquisition card and interface conversion equipment, wherein the interface conversion equipment is any one or more of VGA, VGA-to-HDMI+VGA and BNC-to-AV interface conversion equipment; the telemetering data acquisition hardware module comprises a network cable, a switch and character recognition equipment.
2. The heterogeneous multi-unmanned aerial vehicle monitoring system of claim 1, wherein the communication hardware equipment comprises any one or more of twisted pair communication, optical fiber communication, ethernet remote transmission+covered wire communication, microwave relay and satellite communication.
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