CN-121985309-A - Beidou measurement unmanned ship control method and system based on hovering unmanned plane

CN121985309ACN 121985309 ACN121985309 ACN 121985309ACN-121985309-A

Abstract

The invention discloses a Beidou measurement unmanned ship control method and system based on a hovering unmanned plane, and belongs to the field of unmanned ship water measurement; the method comprises the steps of receiving first command data from a Beidou measurement unmanned ship, transmitting the first command data to the Beidou measurement unmanned ship through a local area network so that the Beidou measurement unmanned ship completes navigation parameter setting according to the first command data to collect water area data, and transmitting the downloaded first differential data to the Beidou measurement unmanned ship through the local area network in the collecting process so that the Beidou measurement unmanned ship adjusts the real-time position of a ship body during water area data collection according to the first differential data.

Inventors

JI JUNPING
ZHOU GUANGHAI
CHEN HANLONG

Assignees

广州南方测绘科技股份有限公司

Dates

Publication Date: 20260505
Application Date: 20251230

Claims (10)

1. The Beidou measurement unmanned ship control method based on hovering unmanned aerial vehicle is characterized by comprising the following steps of: receiving first command data sent by an onshore remote controller through a local area network, wherein the local area network consists of wireless network bridge modules respectively built in the onshore remote controller, a hovering unmanned aerial vehicle and a Beidou measurement unmanned ship; Forwarding the first command data to a Beidou measurement unmanned ship through a local area network, so that the Beidou measurement unmanned ship finishes navigation parameter setting according to the first command data to acquire water area data; in the acquisition process, the downloaded first differential data are transmitted to the Beidou measurement unmanned ship through a local area network, so that the Beidou measurement unmanned ship adjusts the real-time position of the ship body during water area data acquisition according to the first differential data.
2. The unmanned Beidou measurement ship control method based on the hovering unmanned aerial vehicle according to claim 1, wherein the unmanned Beidou measurement ship adjusts the real-time ship body position when the water area data are acquired according to first differential data, specifically: The Beidou measurement unmanned ship respectively carries out real-time statistics on the first differential data and the second differential data to obtain statistical results, and carries out quality analysis on the first differential data and the second differential data according to the statistical results to determine final differential data, wherein the second differential data is obtained by downloading the Beidou measurement unmanned ship; And the Beidou measurement unmanned ship determines position information to be adjusted according to the final differential data, and adjusts the real-time position of the ship body during water area data acquisition according to the position information to be adjusted.
3. The unmanned Beidou measurement vessel control method based on the hovering unmanned aerial vehicle according to claim 1, wherein the wireless bridge modules comprise a first wireless bridge module of an onshore remote controller, a second wireless bridge module of the hovering unmanned aerial vehicle and a third wireless bridge module of the Beidou measurement unmanned vessel; Opening a first TCPIP client port based on the first wireless bridge module, opening a first TCPIP service port, a second TCPIP client port and a third TCPIP client port based on the second wireless bridge module, and opening a second TCPIP service port and a TCPIP third service port based on the third wireless bridge module; The first TCPIP client port is connected with the first TCPIP service port and establishes a first TCPIP communication link, the second TCPIP client port is connected with the second TCPIP service port and establishes a second TCPIP communication link, and the third TCPIP client port is connected with the third TCPIP service port and establishes a third TCPIP communication link, and the local area network is formed by three TCPIP communication links.
4. The unmanned ship control method for Beidou measurement based on hovering unmanned aerial vehicle of claim 3, further comprising: Receiving first acquisition data sent by a third service port of the Beidou measurement unmanned ship through a third TCPIP communication link through a third client port, wherein the first acquisition data is acquired by acquiring data of the Beidou measurement unmanned ship in a water inlet area; and forwarding the first acquired data to a first client port of an onshore remote control through a first service port of a first TCPIP communication link.
5. The unmanned ship control method based on Beidou measurement of hovering unmanned aerial vehicle according to claim 2, wherein the quality analysis is carried out on the first differential data and the second differential data according to the statistical result to determine final differential data, specifically: the Beidou measurement unmanned ship performs quality analysis on the first differential data and the second differential data according to the statistical result, compares the byte number difference value of the first differential data and the second differential data in continuous preset time with a preset standard value, and takes the second differential data as final differential data if the byte number difference value is larger than the preset standard value, otherwise takes the first differential data as final differential data; the final differential data is used for determining position information to be adjusted through RTK calculation.
6. The hovering unmanned aerial vehicle-based Beidou measurement unmanned aerial vehicle control method according to claim 3, wherein the transmission of the downloaded first differential data to the Beidou measurement unmanned aerial vehicle through a local area network comprises: Connecting a CORS server based on a 4G network, and downloading differential data with a roll name MountPointA mounted on the CORS server to obtain first differential data; And transmitting the first differential data to a second service port of the Beidou measurement unmanned ship through a second client port of a second TCPIP communication link.
7. The hovering unmanned aerial vehicle-based Beidou measurement unmanned aerial vehicle control method according to claim 4, wherein after forwarding the first acquisition data to the first client port of the onshore remote controller through the first service port of the first TCPIP communication link, further comprising: And the first client port of the shore remote controller receives the first collected data, performs data analysis and processing on the first collected data, converts text data into water area information and displays the water area information.
8. A Beidou measurement unmanned ship control system based on a hovering unmanned plane is characterized by comprising an onshore remote controller, the hovering unmanned plane and a Beidou measurement unmanned ship; wherein the hovering drone performs the Beidou measurement drone control method based on the hovering drone of any one of claims 1 to 7.
9. The unmanned Beidou measurement unmanned ship control system based on the hovering unmanned aerial vehicle of claim 8, wherein the unmanned Beidou measurement ship further comprises a Beidou measurement unmanned ship wireless network bridge communication module, a 4G network module, a Beidou measurement unmanned ship CPU module and a Beidou positioning module; The Beidou measurement unmanned ship wireless network bridge communication module is used for receiving first differential data transmitted by the hovering unmanned plane; the 4G network module is used for downloading second differential data; the Beidou measurement unmanned ship CPU module is used for respectively carrying out real-time statistics on the first differential data and the second differential data to obtain statistical results, carrying out quality analysis on the first differential data and the second differential data according to the statistical results, and determining final differential data; The Beidou positioning module is used for determining position information to be adjusted according to the final differential data, and adjusting the real-time position of the ship body during water area data acquisition according to the position information to be adjusted.
10. The unmanned ship control system for Beidou measurement based on hovering unmanned aerial vehicle of claim 8, wherein the on-shore remote controller further comprises an on-shore remote controller wireless bridge communication module, an on-shore remote controller CPU module and an information display module; the shore remote controller wireless bridge communication module is used for receiving first acquired data forwarded by the hovering unmanned aerial vehicle; The on-shore remote controller CPU module is used for carrying out data analysis and processing on the first collected data and converting text data into water area information; the information display module is used for displaying water area information.

Description

Beidou measurement unmanned ship control method and system based on hovering unmanned plane Technical Field The invention relates to the field of unmanned ship water measurement, in particular to a Beidou measurement unmanned ship control method and system based on a hovering unmanned plane. Background The unmanned ship for water measurement greatly facilitates the acquisition, processing and transmission of various hydrologic data of the water surface and the water surface of rivers and lakes by measurement personnel. The current Beidou high-precision RTK positioning technology is mature, an RTK host is installed on an unmanned ship, the RTK host can acquire differential data in real time through a 4G network, centimeter-level high-precision position information is output for the unmanned ship, accordingly, the unmanned ship can be controlled to accurately operate according to a planned water area channel, on-shore operators can check the water area condition in real time through a hand remote controller and manually control various devices (including the RTK host, a sounding instrument and the like) on the unmanned ship in special time. The existing Beidou measurement unmanned ship water area detection technology has the following problems that firstly, 4G network blind spots exist in a water area, RT needs to download and receive differential data of a CORS (Continuously Operating Reference Stations: continuous operation reference station system) server through a 4G network in real time, RTK calculation is carried out, so that centimeter-level high-precision position data can be output, but 4G network blind spots are likely to exist in a river and lake water area, when an unmanned ship drives to the 4G network blind spots, the differential data cannot be received, and at the moment, the positioning accuracy of the RTK is seriously reduced, so that the unmanned ship deviates from a preset operation channel to generate an out-of-control state, even a shore is bumped or other ships are caused, and accidents occur; secondly, wireless communication between the remote controller and the unmanned ship is in a distance or obstacle, the remote controller on the hand of a technician receives acquired data and state data of the unmanned ship through a wireless communication technology and can manually control the unmanned ship, if the distance between the remote controller and the unmanned ship cannot exceed the furthest distance of the wireless communication, but in the actual operation process, the unmanned ship is likely to yaw due to positioning accuracy errors, or obstacle or radio interference exists between the remote controller and the unmanned ship at a certain moment, the obstacle or the radio interference possibly causes the unmanned ship to "escape" to be in an out-of-control state, when the unmanned ship operates, the communication between the remote controller and the unmanned ship is likely to be influenced due to the shielding of hills in a water area, the unmanned ship cannot be in-control or the water area data cannot be transmitted back to the on-shore remote controller, and if the unmanned ship is to expand the working range of a water area, the wireless communication distance between the remote controller and the unmanned ship is limited, so that the unmanned ship is difficult to realize. Disclosure of Invention The invention provides a Beidou measurement unmanned ship control method and system based on a hovering unmanned aerial vehicle, which can expand the water area measurement range of the Beidou measurement unmanned ship through the hovering unmanned aerial vehicle. The invention provides a Beidou measurement unmanned ship control method based on a hovering unmanned plane, which comprises the following steps: receiving first command data sent by an onshore remote controller through a local area network, wherein the local area network consists of wireless network bridge modules respectively built in the onshore remote controller, a hovering unmanned aerial vehicle and a Beidou measurement unmanned ship; Forwarding the first command data to a Beidou measurement unmanned ship through a local area network, so that the Beidou measurement unmanned ship finishes navigation parameter setting according to the first command data to acquire water area data; in the acquisition process, the downloaded first differential data are transmitted to the Beidou measurement unmanned ship through a local area network, so that the Beidou measurement unmanned ship adjusts the real-time position of the ship body during water area data acquisition according to the first differential data. According to the embodiment of the invention, a local area network is formed by the Beidou measurement unmanned ship, the hovering unmanned aerial vehicle and the built-in wireless bridge module of the onshore remote controller, mutual communication among the three is realized through the local area network, command data sent by