CN115767653B - Unmanned aerial vehicle control method based on multi-base station communication mode - Google Patents
Unmanned aerial vehicle control method based on multi-base station communication mode Download PDFInfo
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Abstract
The invention provides an unmanned aerial vehicle control method based on a multi-base station communication mode, which comprises the steps that base stations are respectively arranged at different positions on the ground to form a multi-base station cluster, and when the unmanned aerial vehicle is electrified and is matched with one of the base stations for authentication, a communication list is updated for all the base stations; judging whether the unmanned aerial vehicle is about to leave the effective communication range of the currently connected base station according to the real-time distance value of the unmanned aerial vehicle and the currently connected base station, if so, analyzing the ground area image shot by the unmanned aerial vehicle to obtain the base station distribution state of the ground area, and indicating the unmanned aerial vehicle to send an inquiry message to the corresponding ground area; and determining another base station which is in communication connection with the currently connected base station after the unmanned aerial vehicle leaves the effective communication range of the base station according to response messages of all the base stations in the corresponding ground area on the inquiry messages, wherein the other base station is selected from a plurality of base station clusters to be in communication connection with the unmanned aerial vehicle, so that the unmanned aerial vehicle is always in communication connection with the base station in the flying process.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle control method based on a multi-base station communication mode.
Background
The unmanned aerial vehicle needs to keep the communication connection with the ground base station constantly in the flight process, and can enable the ground base station to continuously send flight control instructions to the unmanned aerial vehicle and collect data acquired by the unmanned aerial vehicle, so that normal and stable operation of the unmanned aerial vehicle is guaranteed. The existing ground base stations are all movable ground base stations, namely, a control person holds the movable ground base stations to follow the unmanned aerial vehicle to move, and the movable ground base stations and the unmanned aerial vehicle always keep within a certain distance range, so that continuous communication connection between the movable ground base stations and the unmanned aerial vehicle is guaranteed. When unmanned aerial vehicle's flight scope is great, control personnel follow unmanned aerial vehicle's motion scope is also corresponding great this moment, has the requirement of great degree of difficulty to control personnel's control operation, can't guarantee that movable ground basic station remains stable communication connection with unmanned aerial vehicle all the time, reduces unmanned aerial vehicle's controllability and data collection consistency.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention provides an unmanned aerial vehicle control method based on a multi-base station communication mode, which comprises the steps that base stations are respectively arranged at different positions on the ground to form a multi-base station cluster, and when the unmanned aerial vehicle is electrified and is matched with one of the base stations for authentication, a communication list is updated for all the base stations; judging whether the unmanned aerial vehicle is about to leave the effective communication range of the currently connected base station according to the real-time distance value of the unmanned aerial vehicle and the currently connected base station, if so, analyzing the ground area image shot by the unmanned aerial vehicle to obtain the base station distribution state of the ground area, and indicating the unmanned aerial vehicle to send an inquiry message to the corresponding ground area; according to response information of all base stations in the corresponding ground area about the inquiry information, determining another base station which is in communication connection after the unmanned aerial vehicle leaves the effective communication range of the base station which is currently connected with the unmanned aerial vehicle, selecting a proper base station from a plurality of base station clusters to be in communication connection with the unmanned aerial vehicle, enabling the unmanned aerial vehicle to be in communication connection with the base station all the time in the flying process, facilitating stable and continuous control of the unmanned aerial vehicle by the base station, and improving controllability and data collection consistency of the unmanned aerial vehicle.
The invention provides an unmanned aerial vehicle control method based on a multi-base station communication mode, which comprises the following steps:
step S1, after the unmanned aerial vehicle is electrified, the unmanned aerial vehicle is instructed to send a connection request message outwards; after one base station of the multi-base station cluster receives the connection request message, carrying out matching authentication on the connection request message, so as to realize communication connection between the unmanned aerial vehicle and the base station; according to the result of the matching authentication, updating a communication list of all base stations of the multi-base station cluster;
step S2, the unmanned aerial vehicle is instructed to perform flight movement according to a control instruction from a currently connected base station, and a real-time distance value between the unmanned aerial vehicle and the currently connected base station is obtained in the flight movement process; judging whether the unmanned aerial vehicle is about to leave the effective communication range of the base station connected with the current time according to the real-time distance value;
step S3, if the unmanned aerial vehicle is about to leave the effective communication range of the base station connected with the current time, the unmanned aerial vehicle is instructed to shoot the corresponding ground area, and a ground area image is obtained; analyzing and processing the ground area image to determine the distribution state information of the base stations of the corresponding ground area; according to the base station distribution state information, the unmanned aerial vehicle is instructed to directionally send an inquiry message to a corresponding ground area;
and S4, determining another base station which is in communication connection with the currently connected base station after the unmanned aerial vehicle leaves the effective communication range of the base station according to response messages of all the base stations in the corresponding ground area on the inquiry message.
Further, in the step S1, after the unmanned aerial vehicle is powered on, the unmanned aerial vehicle is instructed to send a connection request message outwards; after one base station of the multi-base station cluster receives the connection request message, performing matching authentication on the connection request message, so as to realize communication connection between the unmanned aerial vehicle and the base station specifically comprises the following steps:
after the unmanned aerial vehicle is electrified, the unmanned aerial vehicle is instructed to enter a base station searching mode, and a connection request message is sent to the outside periodically; indicating a base station in the multi-base station cluster which receives the connection request message first to extract the equipment identity information of the unmanned aerial vehicle from the connection request message;
the base station is instructed to compare the equipment identity information with a preset white list, if the equipment identity information exists in the preset white list, the connection request message is determined to be successfully matched and authenticated, and at the moment, communication connection between the unmanned aerial vehicle and the base station is constructed; otherwise, determining that the connection request message fails to match authentication.
Further, in the step S1, according to the result of the matching authentication, updating the communication list for all the base stations of the multi-base station cluster specifically includes:
after communication connection between the unmanned aerial vehicle and the base station is established, the base station is instructed to send the equipment identity information to other base stations of the multi-base station cluster, so that all the base stations of the multi-base station cluster can add the equipment identity information to a communication list corresponding to the base station.
Further, in the step S2, the step of indicating the unmanned aerial vehicle to perform flight movement according to a control instruction from the currently connected base station, and obtaining the real-time distance value between the unmanned aerial vehicle and the currently connected base station during the flight movement specifically includes:
instructing the unmanned aerial vehicle to analyze and process control instructions from a currently connected base station, so as to adjust at least one of the self flight speed, the flight height and the flight attitude angle;
and in the flight movement process of the unmanned aerial vehicle, the unmanned aerial vehicle is instructed to perform wireless remote sensing distance measurement on the currently connected base station, so that a real-time distance value between the unmanned aerial vehicle and the currently connected base station is obtained.
Further, in the step S2, determining, according to the real-time distance value, whether the unmanned aerial vehicle is about to leave the effective communication range with the currently connected base station specifically includes:
comparing the real-time distance value with a first preset distance threshold value and a second preset distance threshold value, and if the real-time distance value is larger than or equal to the first preset distance threshold value and smaller than the second preset distance threshold value, determining that the unmanned aerial vehicle is about to leave the effective communication range of the base station connected with the current unmanned aerial vehicle; wherein the first preset distance threshold is less than the second preset distance threshold.
Further, in the step S2, if the real-time distance value is greater than or equal to a first preset distance threshold and less than a second preset distance threshold, determining that the unmanned aerial vehicle is about to leave the effective communication range of the base station connected with the current base station specifically includes:
step S201, judging whether the real-time distance value is greater than or equal to a first preset distance threshold for a long time according to the real-time distance value, the first preset distance threshold and a second preset distance threshold by using the following formula (1),
in the above formula (1), R (t) represents a determination value of whether the real-time distance value at the current time is greater than or equal to a first preset distance threshold value for a long time; t represents the current time; t represents the detection duration of the detection distance; a represents an integer variable; s (T-axT) represents a distance value between the unmanned aerial vehicle and the currently connected base station at the moment of T-axT; s is S 1 Representing a first preset distance threshold; s is S 2 Representing a second preset distance threshold; n represents a preset long-time threshold value of n×t; f []A function value of the judgment function is 1 if the expression in the brackets is established, and is 0 if the expression in the brackets is not established;if the value of a is substituted from 0 to n into a bracket, if one or more values of a are present so that the expression in the bracket is established, the function value of the function is 1, otherwise, the function value of the function is 0;
if R (t) =1, the real-time distance value at the current moment is greater than or equal to a first preset distance threshold value for a long time;
if R (t) =0, it indicates that the real-time distance value is not longer than or equal to the first preset distance threshold value at the current moment;
step S202, when the real-time distance value is in a state of being larger than or equal to a first preset distance threshold value and smaller than a second preset distance threshold value for a long time at the current moment, judging whether the real-time distance value has an increasing trend or not by utilizing the following formula (2),
in the above formula (2), G (t) represents a determination value of whether or not the real-time distance value has a tendency to increase at the present time; k represents an integer variable;representing an upward rounding;
if G (t) =1, it indicates that the real-time distance value at the current time tends to increase;
if G (t) =0, it indicates that there is no tendency of increasing the real-time distance value at the current time;
step S203, using the following formula (3), according to the judging results of the steps S201 and S202 and the data transmission packet loss rate of the current unmanned aerial vehicle, controlling the switching control value of the currently connected base station,
E(t)＝1-[1-F(μ>10％)]×[1-R(t)]×[1-G(t)] (3)
in the above formula (3), E (t) represents a handover control value of a base station to which the unmanned aerial vehicle is connected at the current time; mu represents the packet loss rate of transmission data between the unmanned aerial vehicle and the base station at the current moment;
if E (t) =1, indicating that the unmanned aerial vehicle is about to leave the effective communication range of the currently connected base station, at the moment, controlling the currently connected base station to disconnect, and indicating the unmanned aerial vehicle to change connection to other base stations;
if E (t) =0, it indicates that the drone is located within the effective communication range with the currently connected base station, and the communication state between the drone and the currently connected base station is kept unchanged.
Further, in the step S3, if the unmanned aerial vehicle is about to leave the effective communication range of the base station currently connected, the unmanned aerial vehicle is instructed to shoot the corresponding ground area, and the obtaining the ground area image specifically includes:
if the unmanned aerial vehicle is about to leave the effective communication range of the base station connected with the current time, determining the existing azimuth angle range of the base station connected with the current time relative to the unmanned aerial vehicle; and indicating the camera of the unmanned aerial vehicle to shoot other ground areas outside the azimuth range to obtain corresponding ground area images.
Further, in the step S3, the ground area image is analyzed and processed, and the distribution state information of the base stations in the corresponding ground area is determined; according to the base station distribution state information, the method for indicating the unmanned aerial vehicle to directionally send the inquiry message to the corresponding ground area specifically comprises the following steps:
performing base station contour recognition processing on the ground area image, and determining the respective existing positions of all base stations in the corresponding ground area;
and indicating the unmanned aerial vehicle to simultaneously and directionally send inquiry messages to all the base stations in the ground area by taking the respective existing positions of all the base stations in the ground area as references.
Further, in the step S4, determining, according to response messages of all base stations of the corresponding ground area with respect to the query message, another base station that performs communication connection after the unmanned aerial vehicle leaves the effective communication range with the currently connected base station specifically includes:
according to the signal intensity of response messages of all base stations of the corresponding ground area, which are received by the unmanned aerial vehicle, about the query message, the base station which sends the response message with the largest signal intensity is used as a target base station for the next communication connection of the unmanned aerial vehicle;
and when the real-time distance value is greater than or equal to a second preset distance value, indicating the unmanned aerial vehicle to perform matching authentication with the target base station, so that the unmanned aerial vehicle is switched to be in communication connection with the target base station.
Compared with the prior art, the unmanned aerial vehicle control method based on the multi-base station communication mode comprises the steps that base stations are respectively arranged at different positions on the ground to form a multi-base station cluster, and when the unmanned aerial vehicle is electrified and is matched with one of the base stations for authentication, a communication list is updated for all the base stations; judging whether the unmanned aerial vehicle is about to leave the effective communication range of the currently connected base station according to the real-time distance value of the unmanned aerial vehicle and the currently connected base station, if so, analyzing the ground area image shot by the unmanned aerial vehicle to obtain the base station distribution state of the ground area, and indicating the unmanned aerial vehicle to send an inquiry message to the corresponding ground area; according to response information of all base stations in the corresponding ground area about the inquiry information, determining another base station which is in communication connection after the unmanned aerial vehicle leaves the effective communication range of the base station which is currently connected with the unmanned aerial vehicle, selecting a proper base station from a plurality of base station clusters to be in communication connection with the unmanned aerial vehicle, enabling the unmanned aerial vehicle to be in communication connection with the base station all the time in the flying process, facilitating stable and continuous control of the unmanned aerial vehicle by the base station, and improving controllability and data collection consistency of the unmanned aerial vehicle.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of an unmanned aerial vehicle control method based on a multi-base station communication mode.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a flow chart of a control method of an unmanned aerial vehicle based on a multi-base station communication mode according to an embodiment of the present invention is shown. The unmanned aerial vehicle control method based on the multi-base station communication mode comprises the following steps:
step S1, after the unmanned aerial vehicle is electrified, the unmanned aerial vehicle is instructed to send a connection request message outwards; after one base station of the multi-base station cluster receives the connection request message, carrying out matching authentication on the connection request message, so as to realize communication connection between the unmanned aerial vehicle and the base station; according to the result of the matching authentication, updating the communication list of all the base stations of the multi-base station cluster;
step S2, the unmanned aerial vehicle is instructed to perform flight movement according to a control instruction from a currently connected base station, and a real-time distance value between the unmanned aerial vehicle and the currently connected base station is obtained in the flight movement process; judging whether the unmanned aerial vehicle is about to leave the effective communication range of the base station connected with the current time according to the real-time distance value;
step S3, if the unmanned aerial vehicle is about to leave the effective communication range of the base station connected with the current time, the unmanned aerial vehicle is instructed to shoot the corresponding ground area, and a ground area image is obtained; analyzing and processing the ground area image to determine the distribution state information of the base stations of the corresponding ground area; according to the base station distribution state information, the unmanned aerial vehicle is instructed to directionally send an inquiry message to a corresponding ground area;
and S4, determining another base station which is in communication connection with the currently connected base station after the unmanned aerial vehicle leaves the effective communication range of the base station according to response messages of all the base stations in the corresponding ground area on the inquiry message.
The beneficial effects of the technical scheme are as follows: according to the unmanned aerial vehicle control method based on the multi-base station communication mode, base stations are respectively arranged at different positions on the ground to form a multi-base station cluster, and when the unmanned aerial vehicle is electrified and is matched with one of the base stations for authentication, a communication list is updated for all the base stations; judging whether the unmanned aerial vehicle is about to leave the effective communication range of the currently connected base station according to the real-time distance value of the unmanned aerial vehicle and the currently connected base station, if so, analyzing the ground area image shot by the unmanned aerial vehicle to obtain the base station distribution state of the ground area, and indicating the unmanned aerial vehicle to send an inquiry message to the corresponding ground area; according to response information of all base stations in the corresponding ground area about the inquiry information, determining another base station which is in communication connection after the unmanned aerial vehicle leaves the effective communication range of the base station which is currently connected with the unmanned aerial vehicle, selecting a proper base station from a plurality of base station clusters to be in communication connection with the unmanned aerial vehicle, enabling the unmanned aerial vehicle to be in communication connection with the base station all the time in the flying process, facilitating stable and continuous control of the unmanned aerial vehicle by the base station, and improving controllability and data collection consistency of the unmanned aerial vehicle.
Preferably, in the step S1, after the unmanned aerial vehicle is powered on, the unmanned aerial vehicle is instructed to send a connection request message outwards; after one base station of the multi-base station cluster receives the connection request message, performing matching authentication on the connection request message, so as to realize communication connection between the unmanned aerial vehicle and the base station specifically comprises:
after the unmanned aerial vehicle is electrified, the unmanned aerial vehicle is instructed to enter a base station searching mode, and a connection request message is sent to the outside periodically; indicating a base station which receives the connection request message first in the multi-base station cluster to extract the equipment identity information of the unmanned aerial vehicle from the connection request message;
the base station is instructed to compare the equipment identity information with a preset white list, if the equipment identity information exists in the preset white list, the connection request message is determined to be successfully matched and authenticated, and at the moment, communication connection between the unmanned aerial vehicle and the base station is constructed; otherwise, determining that the connection request message fails to match the authentication.
The beneficial effects of the technical scheme are as follows: in actual operation, the base stations can be installed at different positions on the ground to form a distributed multi-base station cluster system, all base stations of the distributed multi-base station cluster system are connected with a central server, and the central server performs unified management on all base stations. When the unmanned aerial vehicle is powered on, the unmanned aerial vehicle firstly enters a base station searching mode, periodically transmits a connection request message to the outside, all base stations in the area near the position of the unmanned aerial vehicle receive the connection request message, and the base station which receives the connection request message first extracts the equipment identity information of the unmanned aerial vehicle from the connection request message. And comparing the equipment identity information with a preset white list, so as to carry out matching authentication on the connection request message, and immediately realizing communication connection between the unmanned aerial vehicle and the base station after the matching authentication is successful, thereby realizing control of the unmanned aerial vehicle by the base station.
Preferably, in the step S1, according to the result of the matching authentication, updating the communication list for all the base stations of the multi-base station cluster specifically includes:
after the communication connection between the unmanned aerial vehicle and the base station is constructed, the base station is instructed to send the equipment identity information to other base stations of the multi-base station cluster, so that all the base stations of the multi-base station cluster are added with the equipment identity information to a communication list corresponding to the base station.
The beneficial effects of the technical scheme are as follows: after the unmanned aerial vehicle is in communication connection with the base station, the base station uploads the equipment identity information to a central server, and the central server sends the equipment identity information to all other base stations, so that all the base stations add the equipment identity information to a communication list corresponding to the base station, and all the base stations can be in communication connection with the unmanned aerial vehicle quickly in subsequent work.
Preferably, in the step S2, the step of instructing the unmanned aerial vehicle to perform flight movement according to a control instruction from the currently connected base station, and acquiring the real-time distance value between the unmanned aerial vehicle and the currently connected base station during the flight movement specifically includes:
instructing the unmanned aerial vehicle to analyze and process control instructions from a currently connected base station, so as to adjust at least one of the self flight speed, the flight height and the flight attitude angle;
in the flight movement process of the unmanned aerial vehicle, the unmanned aerial vehicle is instructed to conduct wireless remote sensing distance measurement to the currently connected base station, and therefore a real-time distance value between the unmanned aerial vehicle and the currently connected base station is obtained.
The beneficial effects of the technical scheme are as follows: the base station currently connected with the unmanned aerial vehicle obtains independent control authority to the unmanned aerial vehicle and sends a control instruction to the unmanned aerial vehicle, so that at least one of the flying speed, the flying height and the flying attitude angle of the unmanned aerial vehicle is adjusted, and the flying state of the unmanned aerial vehicle is accurately adjusted. In addition, in the flight movement process of the unmanned aerial vehicle, the wireless remote sensing distance measurement operation of the base station which is periodically connected with the current base station obtains the real-time distance value of the unmanned aerial vehicle and the current base station. Wherein, the wireless remote sensing distance measurement operation belongs to the conventional technical means in the field, and is not described in detail herein.
Preferably, in the step S2, determining whether the unmanned aerial vehicle is about to leave the effective communication range with the currently connected base station according to the real-time distance value specifically includes:
comparing the real-time distance value with a first preset distance threshold value and a second preset distance threshold value, and if the real-time distance value is larger than or equal to the first preset distance threshold value and smaller than the second preset distance threshold value, determining that the unmanned aerial vehicle is about to leave the effective communication range of the base station connected with the current unmanned aerial vehicle; wherein the first preset distance threshold is less than the second preset distance threshold.
The beneficial effects of the technical scheme are as follows: by the method, whether the unmanned aerial vehicle is about to leave the effective communication range of the base station connected with the current base station or not can be accurately judged, and communication switching of the next base station can be conducted in time in the effective communication range of the unmanned aerial vehicle which is about to leave the base station connected with the current base station.
Preferably, in the step S2, if the real-time distance value is greater than or equal to the first preset distance threshold and less than the second preset distance threshold, determining that the unmanned aerial vehicle is about to leave the effective communication range with the currently connected base station specifically includes:
step S201, judging whether the real-time distance value is greater than or equal to the first preset distance threshold for a long time according to the real-time distance value, the first preset distance threshold and the second preset distance threshold by using the following formula (1),
in the above formula (1), R (t) represents a determination value of whether the real-time distance value is greater than or equal to a first preset distance threshold value for a long time at the present time; t represents the current time; t represents the detection duration of the detection distance; a represents an integer variable; s (T-axT) represents time T-axT unmanned aerial vehicleA distance value from a currently connected base station; s is S 1 Representing a first preset distance threshold; s is S 2 Representing a second preset distance threshold; n represents a preset long-time threshold value of n×t; f []A function value of the judgment function is 1 if the expression in the brackets is established, and is 0 if the expression in the brackets is not established;if the value of a is substituted from 0 to n into a bracket, if one or more values of a are present so that the expression in the bracket is established, the function value of the function is 1, otherwise, the function value of the function is 0;
if R (t) =1, the real-time distance value is larger than or equal to a first preset distance threshold value for a long time at the current moment;
if R (t) =0, it indicates that the real-time distance value is not longer than or equal to the first preset distance threshold at the current time;
step S202, when the real-time distance value is in a state of being larger than or equal to the first preset distance threshold value and smaller than the second preset distance threshold value for a long time at the current moment, judging whether the real-time distance value has an increasing trend or not by utilizing the following formula (2),
in the above formula (2), G (t) represents a determination value of whether or not there is still a tendency of the real-time distance value to increase at the present time; k represents an integer variable;representing an upward rounding;
if G (t) =1, it indicates that the real-time distance value tends to increase at the current time;
if G (t) =0, it indicates that there is no tendency for the real-time distance value to increase at the current time;
step S203, using the following formula (3), according to the judging results of the steps S201 and S202 and the data transmission packet loss rate of the current unmanned aerial vehicle, controlling the switching control value of the currently connected base station,
E(t)＝1-[1-F(μ>10％)]×[1-R(t)]×[1-G(t)] (3)
in the above formula (3), E (t) represents a handover control value of a base station to which the unmanned aerial vehicle is connected at the current time; mu represents the packet loss rate of transmission data between the unmanned aerial vehicle and the base station at the current moment;
if E (t) =1, indicating that the unmanned aerial vehicle is about to leave the effective communication range of the currently connected base station, at the moment, controlling the currently connected base station to disconnect, and indicating the unmanned aerial vehicle to change connection to other base stations;
if E (t) =0, it indicates that the drone is within the effective communication range with the currently connected base station, and the communication state between the drone and the currently connected base station is maintained unchanged.
The beneficial effects of the technical scheme are as follows: by utilizing the formula (1), whether the real-time distance value is greater than or equal to the first preset distance threshold value or not is judged according to the real-time distance value, the first preset distance threshold value and the second preset distance threshold value, so that the unmanned aerial vehicle is prevented from switching the base station when being occasionally within the range of the first preset distance threshold value and the second preset distance threshold value, and the stability of the system is improved; then, judging whether the real-time distance value has an increasing trend or not by utilizing the formula (2), and if the distance is continuously increased within the range of the first preset distance threshold value and the second preset distance threshold value, considering that the unmanned aerial vehicle is about to leave the effective communication range of the base station connected with the current state, and improving the adaptability of the system to analysis processing of different conditions; and finally, controlling the switching control value of the currently connected base station by utilizing the formula (3) according to the judging results of the steps S201 and S202 and the data transmission packet loss rate of the current unmanned aerial vehicle, thereby completing intelligent judgment and control and reflecting the characteristics of intellectualization and automation of the system.
Preferably, in the step S3, if the unmanned aerial vehicle is about to leave the effective communication range of the base station currently connected, the unmanned aerial vehicle is instructed to shoot the corresponding ground area, and the obtaining the ground area image specifically includes:
if the unmanned aerial vehicle is about to leave the effective communication range of the base station connected with the current time, determining the existing azimuth angle range of the base station connected with the current time relative to the unmanned aerial vehicle; and the camera of the unmanned aerial vehicle is instructed to shoot other ground areas beyond the azimuth range to obtain corresponding ground area images.
The beneficial effects of the technical scheme are as follows: through the mode, the camera of the unmanned aerial vehicle is instructed to shoot other ground areas beyond the range of the azimuth angle to obtain corresponding ground area images, and therefore reliable image support can be provided for the unmanned aerial vehicle to select to carry out communication switching of the next base station.
Preferably, in the step S3, the ground area image is analyzed and processed to determine the distribution state information of the base stations in the corresponding ground area; according to the base station distribution state information, the method for indicating the unmanned aerial vehicle to directionally send the inquiry message to the corresponding ground area specifically comprises the following steps:
base station contour recognition processing is carried out on the ground area image, and the respective existing positions of all base stations in the corresponding ground area are determined;
and indicating the unmanned aerial vehicle to simultaneously and directionally send inquiry messages to all the base stations in the ground area by taking the existence positions of all the base stations in the ground area as references.
The beneficial effects of the technical scheme are as follows: by the method, the proper base station set for the unmanned aerial vehicle to carry out the communication switching of the next base station can be screened out, and the unmanned aerial vehicle is instructed to simultaneously and directionally send the inquiry message to all the base stations in the ground area, so that the unmanned aerial vehicle can conveniently and finally select the proper base station to carry out the subsequent communication switching before actually leaving the effective communication range of the base station connected with the current base station.
Preferably, in the step S4, determining, according to the response messages of all the base stations of the corresponding ground area with respect to the query message, that the unmanned aerial vehicle leaves the effective communication range with the currently connected base station, another base station that performs communication connection specifically includes:
according to the signal intensity of response messages of all base stations of the corresponding ground area received by the unmanned aerial vehicle about the query message, taking the base station which sends the response message with the maximum signal intensity as a target base station for the next communication connection of the unmanned aerial vehicle;
and when the real-time distance value is greater than or equal to a second preset distance value, indicating the unmanned aerial vehicle to perform matching authentication with the target base station, so that the unmanned aerial vehicle is switched to be in communication connection with the target base station.
The beneficial effects of the technical scheme are as follows: by adopting the mode, the base station which sends the response message with the maximum signal strength is used as the next target base station for communication connection of the unmanned aerial vehicle, so that stable control can be always obtained when the unmanned aerial vehicle is connected with the base station. In addition, when the real-time distance value is greater than or equal to a second preset distance value, namely the unmanned aerial vehicle is away from the effective communication range of the base station connected with the current base station, the unmanned aerial vehicle and the target base station are instructed to carry out matching authentication at the moment, so that the unmanned aerial vehicle is switched to be in communication connection with the target base station, and the target base station is guaranteed to carry out timely communication control on the unmanned aerial vehicle.
As can be seen from the foregoing embodiments, in the unmanned aerial vehicle control method based on the multi-base station communication mode, base stations are respectively set at different positions on the ground to form a multi-base station cluster, and when the unmanned aerial vehicle is powered on and is matched with one of the base stations for authentication, a communication list is updated for all the base stations; judging whether the unmanned aerial vehicle is about to leave the effective communication range of the currently connected base station according to the real-time distance value of the unmanned aerial vehicle and the currently connected base station, if so, analyzing the ground area image shot by the unmanned aerial vehicle to obtain the base station distribution state of the ground area, and indicating the unmanned aerial vehicle to send an inquiry message to the corresponding ground area; according to response information of all base stations in the corresponding ground area about the inquiry information, determining another base station which is in communication connection after the unmanned aerial vehicle leaves the effective communication range of the base station which is currently connected with the unmanned aerial vehicle, selecting a proper base station from a plurality of base station clusters to be in communication connection with the unmanned aerial vehicle, enabling the unmanned aerial vehicle to be in communication connection with the base station all the time in the flying process, facilitating stable and continuous control of the unmanned aerial vehicle by the base station, and improving controllability and data collection consistency of the unmanned aerial vehicle.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (7)
1. The unmanned aerial vehicle control method based on the multi-base station communication mode is characterized by comprising the following steps:
step S1, after the unmanned aerial vehicle is electrified, the unmanned aerial vehicle is instructed to send a connection request message outwards; after one base station of the multi-base station cluster receives the connection request message, carrying out matching authentication on the connection request message, so as to realize communication connection between the unmanned aerial vehicle and the base station; according to the result of the matching authentication, updating a communication list of all base stations of the multi-base station cluster;
step S2, the unmanned aerial vehicle is instructed to perform flight movement according to a control instruction from a currently connected base station, and a real-time distance value between the unmanned aerial vehicle and the currently connected base station is obtained in the flight movement process; judging whether the unmanned aerial vehicle is about to leave the effective communication range of the base station connected with the current time according to the real-time distance value;
step S3, if the unmanned aerial vehicle is about to leave the effective communication range of the base station connected with the current time, the unmanned aerial vehicle is instructed to shoot the corresponding ground area, and a ground area image is obtained; analyzing and processing the ground area image to determine the distribution state information of the base stations of the corresponding ground area; according to the base station distribution state information, the unmanned aerial vehicle is instructed to directionally send an inquiry message to a corresponding ground area;
step S4, determining another base station which is in communication connection with the currently connected base station after the unmanned aerial vehicle leaves the effective communication range of the base station according to response messages of all the base stations in the corresponding ground area on the inquiry message;
in the step S2, determining, according to the real-time distance value, whether the unmanned aerial vehicle is about to leave the effective communication range of the base station connected with the current base station specifically includes:
comparing the real-time distance value with a first preset distance threshold value and a second preset distance threshold value, and if the real-time distance value is larger than or equal to the first preset distance threshold value and smaller than the second preset distance threshold value, determining that the unmanned aerial vehicle is about to leave the effective communication range of the base station connected with the current unmanned aerial vehicle;
wherein the first preset distance threshold is less than the second preset distance threshold; in the step S2, if the real-time distance value is greater than or equal to a first preset distance threshold and less than a second preset distance threshold, determining that the unmanned aerial vehicle is about to leave the effective communication range of the base station connected with the current base station specifically includes:
step S201, judging whether the real-time distance value is greater than or equal to a first preset distance threshold for a long time according to the real-time distance value, the first preset distance threshold and a second preset distance threshold by using the following formula (1),
in the above formula (1), R (t) represents a determination value of whether the real-time distance value at the current time is greater than or equal to a first preset distance threshold value for a long time; t represents the current time; t represents the detection duration of the detection distance; a represents an integer variable; s (T-axT) represents a distance value between the unmanned aerial vehicle and the currently connected base station at the moment of T-axT; s is S 1 Representing a first preset distance threshold; s is S 2 Representing a second preset distance threshold; n represents a preset long-time threshold value of n×t; f []A function value of the judgment function is 1 if the expression in the brackets is established, and is 0 if the expression in the brackets is not established;indicating the presence ofA function, if the value of a is substituted into the bracket from 0 to n, if one or more a values are present so that the expression in the bracket is established, the function value of the function is 1, otherwise, the function value of the function is 0;
if R (t) =1, the real-time distance value at the current moment is greater than or equal to a first preset distance threshold value for a long time;
if R (t) =0, it indicates that the real-time distance value is not longer than or equal to the first preset distance threshold value at the current moment;
step S202, when the real-time distance value is in a state of being larger than or equal to a first preset distance threshold value and smaller than a second preset distance threshold value for a long time at the current moment, judging whether the real-time distance value has an increasing trend or not by utilizing the following formula (2),
in the above formula (2), G (t) represents a determination value of whether or not the real-time distance value has a tendency to increase at the present time; k represents an integer variable;representing an upward rounding;
if G (t) =1, it indicates that the real-time distance value at the current time tends to increase;
if G (t) =0, it indicates that there is no tendency of increasing the real-time distance value at the current time;
step S203, using the following formula (3), according to the judging results of the steps S201 and S202 and the data transmission packet loss rate of the current unmanned aerial vehicle, controlling the switching control value of the currently connected base station,
E(t)＝1-[1-F(μ>10％)]×[1-R(t)]×[1-G(t)](3)
in the above formula (3), E (t) represents a handover control value of a base station to which the unmanned aerial vehicle is connected at the current time; mu represents the packet loss rate of transmission data between the unmanned aerial vehicle and the base station at the current moment;
if E (t) =1, indicating that the unmanned aerial vehicle is about to leave the effective communication range of the currently connected base station, at the moment, controlling the currently connected base station to disconnect, and indicating the unmanned aerial vehicle to change connection to other base stations;
if E (t) =0, it indicates that the drone is located within the effective communication range with the currently connected base station, and the communication state between the drone and the currently connected base station is kept unchanged.
2. The method for controlling a drone based on a multi-base station communication mode of claim 1, wherein:
in the step S1, after the unmanned aerial vehicle is powered on, the unmanned aerial vehicle is instructed to send a connection request message outwards; after one base station of the multi-base station cluster receives the connection request message, performing matching authentication on the connection request message, so as to realize communication connection between the unmanned aerial vehicle and the base station specifically comprises the following steps:
after the unmanned aerial vehicle is electrified, the unmanned aerial vehicle is instructed to enter a base station searching mode, and a connection request message is sent to the outside periodically; indicating a base station in the multi-base station cluster which receives the connection request message first to extract the equipment identity information of the unmanned aerial vehicle from the connection request message; the base station is instructed to compare the equipment identity information with a preset white list, if the equipment identity information exists in the preset white list, the connection request message is determined to be successfully matched and authenticated, and at the moment, communication connection between the unmanned aerial vehicle and the base station is constructed; otherwise, determining that the connection request message fails to match authentication.
3. The method for controlling a drone based on a multi-base station communication mode according to claim 2, wherein:
in the step S1, according to the result of the matching authentication, updating the communication list of all the base stations of the multi-base station cluster specifically includes:
after communication connection between the unmanned aerial vehicle and the base station is established, the base station is instructed to send the equipment identity information to other base stations of the multi-base station cluster, so that all the base stations of the multi-base station cluster can add the equipment identity information to a communication list corresponding to the base station.
4. The unmanned aerial vehicle control method based on the multi-base station communication mode of claim 3, wherein:
in the step S2, the step of indicating the unmanned aerial vehicle to perform flight movement according to a control instruction from the currently connected base station, and acquiring the real-time distance value between the unmanned aerial vehicle and the currently connected base station during the flight movement specifically includes:
instructing the unmanned aerial vehicle to analyze and process control instructions from a currently connected base station, so as to adjust at least one of the self flight speed, the flight height and the flight attitude angle;
and in the flight movement process of the unmanned aerial vehicle, the unmanned aerial vehicle is instructed to perform wireless remote sensing distance measurement on the currently connected base station, so that a real-time distance value between the unmanned aerial vehicle and the currently connected base station is obtained.
5. The method for controlling a drone based on a multi-base station communication mode of claim 1, wherein:
in the step S3, if the unmanned aerial vehicle is about to leave the effective communication range of the base station currently connected, the unmanned aerial vehicle is instructed to shoot the corresponding ground area, and the obtaining the ground area image specifically includes:
if the unmanned aerial vehicle is about to leave the effective communication range of the base station connected with the current time, determining the existing azimuth angle range of the base station connected with the current time relative to the unmanned aerial vehicle; and indicating the camera of the unmanned aerial vehicle to shoot other ground areas outside the azimuth range to obtain corresponding ground area images.
6. The method for controlling a drone based on a multi-base station communication mode of claim 5, wherein:
in the step S3, the ground area image is analyzed and processed, and the distribution state information of the base stations in the corresponding ground area is determined; according to the base station distribution state information, the method for indicating the unmanned aerial vehicle to directionally send the inquiry message to the corresponding ground area specifically comprises the following steps:
performing base station contour recognition processing on the ground area image, and determining the respective existing positions of all base stations in the corresponding ground area;
and indicating the unmanned aerial vehicle to simultaneously and directionally send inquiry messages to all the base stations in the ground area by taking the respective existing positions of all the base stations in the ground area as references.
7. The method for controlling a drone based on a multi-base station communication mode of claim 6, wherein:
in the step S4, according to the response messages of all the base stations in the corresponding ground area about the query message, determining that the unmanned aerial vehicle leaves the effective communication range with the currently connected base station and then performs communication connection with another base station specifically includes:
according to the signal intensity of response messages of all base stations of the corresponding ground area, which are received by the unmanned aerial vehicle, about the query message, the base station which sends the response message with the largest signal intensity is used as a target base station for the next communication connection of the unmanned aerial vehicle;
and when the real-time distance value is greater than or equal to a second preset distance value, indicating the unmanned aerial vehicle to perform matching authentication with the target base station, so that the unmanned aerial vehicle is switched to be in communication connection with the target base station.
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