CN-121979240-A - Cluster unmanned aerial vehicle instruction execution-oriented batched state management method

CN121979240ACN 121979240 ACN121979240 ACN 121979240ACN-121979240-A

Abstract

The invention discloses a batch state management method, device, medium and equipment for instruction execution of a cluster unmanned aerial vehicle, and relates to the field of unmanned aerial vehicle command control. The method comprises the steps of receiving and analyzing network data packets in real time through UDP multicast to obtain report information containing an unmanned aerial vehicle ID, an instruction report type and a time stamp, identifying instruction report batches by adopting a sliding window algorithm, grouping the same instructions into a batch in the same time window, creating a new batch when the new instructions or overtime, maintaining a state mapping table based on an RC/TC/Complete three-level state model, judging batch completion through an instant and timing mechanism, counting various state occupation ratios, updating completion index in an increment mode, and displaying states through three layers of gridding, batch counting and historical batch display layers. The method realizes precise batched management and state tracking of the multi-machine instructions, and improves the instruction execution monitoring efficiency and the operation convenience of the clustered unmanned aerial vehicle.

Inventors

ZHAO WENJING
REN CONG
YANG HONGYU
ZHANG XINMIAO
Kang Rongyan
YAN FAN

Assignees

西安爱生技术集团有限公司

Dates

Publication Date: 20260505
Application Date: 20260119

Claims (9)

1. The batch state management method for the instruction execution of the cluster unmanned aerial vehicle is characterized by comprising the following steps of: receiving and analyzing a network data packet in real time in a UDP multicast mode to obtain unmanned aerial vehicle return information, wherein the unmanned aerial vehicle return information comprises an unmanned aerial vehicle ID, an instruction return type and a current time stamp, and the instruction return type comprises remote control instruction return and telemetry instruction return; Automatically identifying instruction report batches in the unmanned aerial vehicle report information by adopting a sliding window algorithm, wherein the same instruction report types received by different unmanned aerial vehicles in the same time window are determined to be the same batch, and a new batch is created when the detected new instruction report type or the time window of the sliding window exceeds a threshold value; Based on a predefined three-level state model, maintaining a respective state mapping table for each unmanned aerial vehicle, and identifying whether the batch in the unmanned aerial vehicle maintenance state mapping table is completed or not through an instant judging mechanism and a timing mechanism, wherein the three-level state comprises an RC state, a TC state and a Complete state, the RC state represents that remote control instruction return is received but telemetry instruction return is not received, the TC state represents that telemetry instruction return is received, and the Complete state represents that remote control instruction and telemetry return are consistent; And counting various state ratios in the state mapping table in real time, generating a batch completion index, updating various state ratios by adopting an incremental updating mechanism, generating the batch completion index, and presenting the instruction execution state of the unmanned aerial vehicle through a gridding state display layer, a batch counting layer and a historical batch display layer.
2. The method for managing batched status of instruction execution of unmanned aerial vehicle oriented to a cluster according to claim 1, wherein determining the same instruction report type received by different unmanned aerial vehicles within the same time window as the same batch, and creating a new batch when the detected new instruction report type or the time window of the sliding window exceeds a threshold value, comprises: Maintaining a batch list according to the same instruction report name; when the arrival time of the new same instruction report is in the time window of the sliding window, the batch is attributed, otherwise, a new batch is created; When a different instruction return arrives, a new batch is created.
3. The clustered unmanned aerial vehicle instruction execution-oriented batch state management method of claim 1, wherein the three-level state model comprises: When receiving remote report instruction, creating new FeedbackItem and setting state as RC state, when receiving remote report, searching for the same name and unfinished FeedbackItem in the last 1000 ms, if it is, upgrading to Complete state, otherwise creating new FeedbackItem and setting state as TC state. The system realizes a state deduplication mechanism, ignores repeated state updating, and avoids state rollback or confusion; the upgrading process of the three-level state model is that the RC state is changed to the TC state, and the TC state is changed to the Complete state.
4. The method of claim 1, wherein the lifecycle of the instruction report batch in the unmanned aerial vehicle report information includes a creation phase, a collection phase, a completion phase, a processing phase, and a destruction phase: In the creation stage, initializing the batch based on unmanned aerial vehicle return information; in the collecting stage, receiving and processing instruction returns, and updating an unmanned aerial vehicle state list; In the completion stage, marking the batch meeting the completion condition as a completion state; in the processing stage, performing visualized updating after batch completion; in the destroying stage, the batch information is archived and the memory resource is released.
5. The method for managing batch status of execution of a cluster-oriented unmanned aerial vehicle instruction according to claim 1, wherein the generating the batch completion index by using the status ratios of the various types in the real-time statistical status mapping table comprises: Collecting multidimensional statistical data in real time; The multi-dimensional statistical data comprises batch IDs, instruction report types, total unmanned aerial vehicle number, complete state unmanned aerial vehicle number, TC state unmanned aerial vehicle number, RC state unmanned aerial vehicle number and unmanned aerial vehicle ID lists corresponding to all states; and determining the duty ratio of each state based on the multidimensional statistical data and generating a batch completion index.
6. The method for managing batched state of command execution for clustered unmanned aerial vehicles according to claim 1, wherein the gridding state display layer is used for displaying the command return state of each unmanned aerial vehicle in real time; the batch statistics layer is used for calculating batch Complete state rate, TC state rate and RC state rate in real time to quantitatively evaluate batch execution effect; the history batch display layer is used for displaying the completion state of the latest batch in a time reverse order to form a state evolution track.
7. The utility model provides a batched state management device towards cluster unmanned aerial vehicle instruction execution which characterized in that includes: The data analysis module is used for receiving and analyzing the network data packet in real time in a UDP multicast mode to obtain unmanned aerial vehicle return information, wherein the unmanned aerial vehicle return information comprises an unmanned aerial vehicle ID, an instruction return type and a current timestamp, and the instruction return type comprises remote control instruction return and telemetry instruction return; The batch identification module is used for automatically identifying instruction report batches in the unmanned aerial vehicle report information by adopting a sliding window algorithm, wherein the same instruction report types received by different unmanned aerial vehicles in the same time window are determined to be the same batch, and a new batch is created when the detected new instruction report type or the time window of the sliding window exceeds a threshold value; the batch state determining module is used for maintaining a respective state mapping table for each unmanned aerial vehicle based on a predefined three-level state model, and identifying whether the batch in the unmanned aerial vehicle maintenance state mapping table is completed or not through an instant judging mechanism and a timing mechanism, wherein the three-level state comprises an RC state, a TC state and a Complete state, the RC state indicates that a remote control instruction report is received but a remote control instruction report is not received, the TC state indicates that a remote control instruction report is received, and the Complete state indicates that the remote control instruction and the remote control report are consistent; The state display module is used for counting various state duty ratios in the state mapping table in real time and generating a batch completion index, updating various state duty ratios by adopting an incremental updating mechanism and generating the batch completion index, and displaying the instruction execution state of the unmanned aerial vehicle through the gridding state display layer, the batch counting layer and the history batch display layer.
8. A computer readable storage medium comprising instructions that when executed on a computer cause the computer to perform the clustered unmanned instruction execution oriented batch status management method of any of claims 1-6.
9. An electronic device, the electronic device comprising: at least one processor, memory, and input output unit; The memory is used for storing a computer program, and the processor is used for calling the computer program stored in the memory to execute the batch state management method for executing the cluster-oriented unmanned aerial vehicle instruction according to any one of claims 1-6.

Description

Cluster unmanned aerial vehicle instruction execution-oriented batched state management method Technical Field The application relates to the technical field of unmanned aerial vehicle command control, in particular to a batch state management method, device, medium and equipment for instruction execution of clustered unmanned aerial vehicles. Background At present, the unmanned aerial vehicle instruction execution state management technology mainly has obvious limitations. The instruction management technology based on the time stamp can record the instruction time sequence, but lacks the batch concept based on the time window, and cannot accurately distinguish instruction sets in different time periods. In addition, the prior art generally adopts a single event triggering mechanism, and when part of unmanned aerial vehicles fail to timely feed back the state, the system cannot timely identify the batch completion condition, so that the instantaneity and the reliability are insufficient. In the aspect of visualization, the prior art mostly adopts a simple state list or chart display, lacks an intuitive multi-layer visualization mechanism, and is difficult for operators to quickly know the overall state of the cluster unmanned aerial vehicle and identify abnormal conditions. Disclosure of Invention The application mainly aims to provide a batch state management method, device, medium and equipment for instruction execution of a cluster unmanned aerial vehicle, and aims to realize automatic batch identification and management based on a time window. In order to achieve the above objective, the present application provides a method for managing batch status of instruction execution of a cluster-oriented unmanned aerial vehicle, including: receiving and analyzing a network data packet in real time in a UDP multicast mode to obtain unmanned aerial vehicle return information, wherein the unmanned aerial vehicle return information comprises an unmanned aerial vehicle ID, an instruction return type and a current time stamp, and the instruction return type comprises remote control instruction return and telemetry instruction return; Automatically identifying instruction report batches in the unmanned aerial vehicle report information by adopting a sliding window algorithm, wherein the same instruction report types received by different unmanned aerial vehicles in the same time window are determined to be the same batch, and a new batch is created when the detected new instruction report type or the time window of the sliding window exceeds a threshold value; Based on a predefined three-level state model, maintaining a respective state mapping table for each unmanned aerial vehicle, and identifying whether the batch in the unmanned aerial vehicle maintenance state mapping table is completed or not through an instant judging mechanism and a timing mechanism, wherein the three-level state comprises an RC state, a TC state and a Complete state, the RC state represents that remote control instruction return is received but telemetry instruction return is not received, the TC state represents that telemetry instruction return is received, and the Complete state represents that remote control instruction and telemetry return are consistent; And counting various state ratios in the state mapping table in real time, generating a batch completion index, updating various state ratios by adopting an incremental updating mechanism, generating the batch completion index, and presenting the instruction execution state of the unmanned aerial vehicle through a gridding state display layer, a batch counting layer and a historical batch display layer. Optionally, the determining the same instruction report type received by different unmanned aerial vehicles in the same time window as the same batch, and creating a new batch when the detected new instruction report type or the time window of the sliding window exceeds a threshold value includes: Maintaining a batch list according to the same instruction report name; when the arrival time of the new same instruction report is in the time window of the sliding window, the batch is attributed, otherwise, a new batch is created; When a different instruction return arrives, a new batch is created. Optionally, the three-level state model includes: When receiving remote report instruction, creating new FeedbackItem and setting state as RC state, when receiving remote report, searching for the same name and unfinished FeedbackItem in the last 1000 ms, if it is, upgrading to Complete state, otherwise creating new FeedbackItem and setting state as TC state. The system realizes a state deduplication mechanism, ignores repeated state updating, and avoids state rollback or confusion; the upgrading process of the three-level state model is that the RC state is changed to the TC state, and the TC state is changed to the Complete state. Optionally, the lifecycle of the instruction report batch in the