CN-121984806-A - Data processing gateway software architecture suitable for medium-and-large-sized unmanned aerial vehicle clusters

CN121984806ACN 121984806 ACN121984806 ACN 121984806ACN-121984806-A

Abstract

The invention particularly relates to a data processing gateway software architecture suitable for a medium-and-large-sized unmanned aerial vehicle cluster, which is arranged between the unmanned aerial vehicle cluster and an application cluster and comprises a downlink telemetry data processing module, a data distribution module and an uplink remote control command processing module. The method combines the asynchronous communication of the signal slots, the modularized parallel and the dynamic configuration, realizes unified access, distribution, analysis and forwarding of multi-type downlink telemetry data and uplink remote control commands at a gateway side, can perform centralized processing and expansion deployment on measurement and control data in a large and medium unmanned aerial vehicle cluster scene, and solves the problems that the measurement and control data processing capability is insufficient, the end-to-end time delay is large and the bottom program configuration needs to be changed frequently when large unmanned aerial vehicles in a plurality of frames are accessed in parallel in the prior art.

Inventors

YANG HONGYU
ZHANG XINMIAO
ZHAO WENJING
Kang Rongyan
ZHAO QIAN

Assignees

西安爱生技术集团有限公司

Dates

Publication Date: 20260505
Application Date: 20260104

Claims (9)

1. A data processing gateway software architecture suitable for a large and medium unmanned aerial vehicle cluster, the gateway software architecture comprising: The downlink telemetry data processing module is used for receiving downlink telemetry data sent by the unmanned aerial vehicle cluster, and splitting and analyzing the downlink telemetry data based on the data type in the downlink telemetry data to generate a structured downlink telemetry message; the data distribution module is used for pushing the structured downlink telemetry message to the application cluster, and is also used for receiving an uplink remote control command from the application cluster and broadcasting the uplink remote control command; And the uplink remote control command processing module is used for shunting and encoding the uplink remote control command based on the command type in the received uplink remote control command, generating an uplink remote control command, and sending the uplink remote control command to the unmanned aerial vehicle cluster through a corresponding uplink communication port.
2. The gateway software architecture of claim 1, wherein the downstream telemetry data processing module comprises: The telemetry data receiving sub-module comprises a plurality of telemetry data receiving instances, a data receiving sub-module and a data receiving sub-module, wherein the telemetry data receiving sub-module is used for binding a data type and a downlink communication port and generating a corresponding telemetry data ready event when detecting that downlink telemetry data arrives at the downlink communication port; The system comprises a telemetry data receiving module, a telemetry data analyzing module and a telemetry data forwarding module, wherein the telemetry data receiving module is used for receiving telemetry data ready events, determining a target telemetry data analyzing instance for analyzing telemetry data according to a mapping relation between a telemetry data receiving instance and a telemetry data analyzing instance, and forwarding downlink telemetry data to the target telemetry data analyzing instance in a directed manner; the telemetry data analysis sub-module comprises a plurality of telemetry data analysis examples and is used for decoding the received downlink telemetry data to obtain analysis results, and generating structured downlink telemetry information according to a preset structure from the analysis results.
3. The gateway software architecture of claim 1, wherein the data distribution module comprises: The message pushing sub-module is used for pushing the downlink telemetry message to the application cluster through the unified command interface; and the command receiving sub-module is used for receiving the uplink remote control command sent by the application cluster through the unified command interface and broadcasting the uplink remote control command.
4. A gateway software architecture according to claim 3, wherein the upstream remote control command processing module comprises: The remote control command coding sub-module comprises a plurality of remote control command coding instances, and is used for determining a target coding instance according to the command type in the uplink remote control command, and carrying out protocol coding on the uplink remote control command based on the target coding instance to generate an uplink remote control command; The rotor module in the remote control command is used for determining a target remote control command sending instance for sending the remote control command according to the mapping relation between the remote control command coding instance and the remote control command sending instance when receiving the uplink remote control command, and directionally forwarding the uplink remote control command to the target remote control command sending instance; And when the remote control command sending instance receives the uplink remote control command, the remote control command sending instance sends the uplink remote control command to the unmanned aerial vehicle cluster through the corresponding uplink communication port.
5. A data processing method suitable for a large and medium unmanned aerial vehicle cluster, applied to the gateway software architecture of any one of claims 1 to 4, characterized in that the method comprises: receiving downlink telemetry data sent by the unmanned aerial vehicle cluster, and splitting and analyzing the downlink telemetry data based on the data type in the downlink telemetry data to generate a structured downlink telemetry message; pushing the received structured downlink telemetry message to an application cluster, receiving an uplink remote control command from the application cluster, and broadcasting the uplink remote control command; And splitting and encoding the uplink remote control command based on the command type in the received uplink remote control command, generating an uplink remote control command, and sending the uplink remote control command to the unmanned aerial vehicle cluster through a corresponding uplink communication port.
6. The method of claim 5, wherein the offloading and parsing the downstream telemetry data based on the data type in the downstream telemetry data to generate a structured downstream telemetry message comprises: Screening a target telemetry data reception instance among a plurality of telemetry data reception instances based on the data type; determining a target telemetry data analysis example for analyzing telemetry data according to a preset mapping relation between a telemetry data receiving example and a telemetry data analysis example; performing protocol decoding on the downlink telemetry data by utilizing the target telemetry data analysis example to obtain an analysis result; and generating the structural downlink telemetry message according to the analysis result and the preset structure.
7. The method of claim 5, wherein the splitting and encoding the uplink remote control command based on the command type in the received uplink remote control command to generate the uplink remote control command comprises: Selecting a target remote control command encoding instance from a plurality of remote control command encoding instances based on a command type of an uplink remote control command; And the target remote control command coding example carries out protocol coding on the uplink remote control command according to a coding rule corresponding to the command type to generate an uplink remote control command.
8. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored executable program, wherein the executable program when run controls a device in which the storage medium is located to perform the method of any one of claims 5 to 7.
9. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any of claims 5 to 7.

Description

Data processing gateway software architecture suitable for medium-and-large-sized unmanned aerial vehicle clusters Technical Field The invention relates to the technical field of unmanned aerial vehicle cluster measurement and control, in particular to a data processing gateway software architecture suitable for a medium-sized and large-sized unmanned aerial vehicle cluster. Background With the increase of the application of the medium-sized and large-sized unmanned aerial vehicle in the scenes such as regional inspection, emergency rescue, small-scale military training and the like, the ground control system needs to be simultaneously accessed with downlink telemetry data (including flight states, task loads, system health and the like) of a plurality of unmanned aerial vehicles and uplink remote control instructions (including flight control, task planning, link management and the like). When the large unmanned aerial vehicles in 10-30 frames run in parallel, the single machine has large telemetry data quantity, various data types and certain requirements on real-time performance, and the traditional measurement and control framework for the small unmanned aerial vehicle has obvious defects in parallel processing capacity, time delay control and expansion adaptation. At present, gateway or ground station software for medium-large unmanned aerial vehicles is mostly amplified or modified by a small unmanned aerial vehicle measurement and control architecture. For example, some products adopt a centralized processing mode of 'single processor+shared memory', at most only can support about 10 medium and large unmanned aerial vehicles, the downlink is seriously blocked after exceeding the scale, the data processing time delay is more than ten seconds, each newly added unmanned aerial vehicle needs to modify core codes and recompile, the adaptation period is longer, for example, some open-source cluster measurement and control systems take 'single processing thread+synchronous lock' as the core, usually support about 5 medium and large unmanned aerial vehicles, after exceeding the scale, the system is easily blocked for a long time and even paralyzed, and the receiving module must be reconstructed when the telemetry data type is modified or increased, and part of military grade small cluster control terminals adopt a mode of 'multi-processor+hardware port binding', at most support about 8 medium and large unmanned aerial vehicles, the time delay is obviously increased after exceeding the link, the newly added unmanned aerial vehicles need to reconfigure hardware ports, and the maintenance cost is higher. In sum, the existing gateway software of the medium-sized and large-sized unmanned aerial vehicle has the common problems of insufficient parallel processing capacity, higher end-to-end time delay, stiff expansion and adaptation capacity and the like, and is difficult to meet the comprehensive requirements of the medium-sized and large-sized unmanned aerial vehicle clusters on stability, instantaneity and rapid expansion under the conventional task scene. It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the invention and thus may include information that does not form the prior art that is already known to those of ordinary skill in the art. Disclosure of Invention The invention provides a data processing gateway software architecture, a computer readable storage medium and a computer program product applicable to a medium-large unmanned aerial vehicle cluster, which can effectively overcome the defects in the prior art. Other features and advantages of the invention will be apparent from the following detailed description, or may be learned by the practice of the invention. According to a first aspect of the present invention, there is provided a data processing gateway software architecture suitable for a large and medium unmanned aerial vehicle cluster, the gateway software architecture comprising: The downlink telemetry data processing module is used for receiving downlink telemetry data sent by the unmanned aerial vehicle cluster, and splitting and analyzing the downlink telemetry data based on the data type in the downlink telemetry data to generate a structured downlink telemetry message; the data distribution module is used for pushing the structured downlink telemetry message to the application cluster, and is also used for receiving an uplink remote control command from the application cluster and broadcasting the uplink remote control command; And the uplink remote control command processing module is used for shunting and encoding the uplink remote control command based on the command type in the received uplink remote control command, generating an uplink remote control command, and sending the uplink remote control command to the unmanned aerial vehicle cluster through a corresponding uplink communication por