CN-121995939-A - Four-axis eight-rotor unmanned manned plane control method based on ground control station

CN121995939ACN 121995939 ACN121995939 ACN 121995939ACN-121995939-A

Abstract

The invention discloses a four-axis eight-rotor unmanned aerial vehicle control method based on a ground control station, which comprises the following steps of configuring a multimode communication receiving unit through the ground control station, and converging flight state data, environment perception data and airborne system monitoring data uploaded by the four-axis eight-rotor unmanned aerial vehicle in real time; the ground control station performs standardized preprocessing and validity verification on the acquired multi-source data, then performs multi-source fusion processing to generate fusion situation data representing the current flight comprehensive situation, generates a flight control instruction sequence, transmits the flight control instruction sequence passing the verification to the unmanned plane flight control system, and monitors the instruction transmission state in real time. Compared with the prior art, the four-axis eight-rotor unmanned aerial vehicle control method based on the ground control station has the advantages that accurate injection of remote instructions and real-time feedback of flight states are achieved, and safety protection is achieved.

Inventors

WANG TANZHI
WANG YIJUN
MAO YUEHUA

Assignees

上海晨明电子科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260226

Claims (9)

1. The four-axis eight-rotor unmanned aerial vehicle control method based on the ground control station is characterized by comprising the following steps of: S1, configuring a multimode communication receiving unit through a ground control station, and converging flight state data, environment perception data and airborne system monitoring data uploaded by a four-axis eight-rotor unmanned aerial vehicle in real time; S2, the ground control station performs standardized preprocessing and validity verification on the acquired multi-source data and then performs multi-source fusion processing to generate fusion situation data representing the current flight comprehensive situation; S3, the ground control station performs flight risk dynamic assessment and track feasibility analysis based on the fusion situation data, preset flight mission planning and dynamic safety constraint conditions, and outputs risk level judgment results and track optimization suggestions; S4, generating a flight control instruction sequence according to the risk level judging result and the flight path optimizing suggestion, and executing safety boundary check, logic consistency check and double-channel redundancy check on the instruction sequence; S5, the ground control station transmits the flight control instruction sequence passing the verification to the unmanned plane flight control system, and monitors the instruction transmission state in real time; and S6, the ground control station receives instruction execution feedback data returned by the flight control system, and performs control deviation analysis and parameter self-adaptive adjustment based on the feedback data to form closed-loop control.
2. The four-axis eight-rotor unmanned aerial vehicle control method based on the ground control station of claim 1, wherein the environment sensing data comprises an airborne vision sensor, a millimeter wave radar and a laser radar which are collected in a fusion way and uploaded; The ground control station carries out remote diagnosis and calibration prompt on the perceived data quality.
3. The four-axis eight-rotor unmanned aerial vehicle control method based on the ground control station of claim 1, wherein the dynamic safety constraint conditions comprise an electronic geofence, a weather threshold, a manned comfort parameter and a power redundancy index; the ground control station configures and dynamically updates the dynamic security constraint conditions in real time based on the man-machine interaction interface.
4. The four-axis eight-rotor unmanned aerial vehicle control method based on the ground control station of claim 1, wherein the transmission instruction sequence is based on a main redundant communication link and a standby redundant communication link, and comprises a satellite communication link and a ground data link; The ground control station realizes millisecond seamless switching based on a link quality monitoring result, and embeds an anti-interference encryption and instruction integrity verification mechanism.
5. The four-axis eight-rotor unmanned aerial vehicle control method based on the ground control station of claim 1, wherein in S6, when the ground control station identifies that the execution deviation exceeds the limit, the communication link is abnormal or the system health status alarms, a grading emergency control strategy is automatically triggered, and visual alarms, treatment guidance and manual intervention confirmation options are synchronously generated on a man-machine interaction interface.
6. The four-axis eight rotor unmanned aerial vehicle control method based on the ground control station of claim 1, wherein the hierarchical emergency control strategy comprises at least one of instruction re-tuning, track smooth re-planning, autonomous return voyage, safe hover, controlled descent; the manual intervention confirmation options comprise policy confirmation, parameter adjustment and takeover control by an operator through a ground control station man-machine interaction interface.
7. The four-axis eight-rotor unmanned aerial vehicle control method based on the ground control station of claim 1, wherein a bidirectional safety verification mechanism is also established between the ground control station and the unmanned aerial vehicle flight control system; the bidirectional security verification mechanism comprises instruction digital signature verification, feedback receipt confirmation and operation log storage.
8. The control method of the four-axis eight-rotor unmanned aerial vehicle based on the ground control station of claim 1, wherein the multi-source fusion processing in S2 is of a layered fusion architecture, and is characterized in that feature level fusion is sequentially carried out to generate a local environment model, and decision level fusion is carried out by combining task level information.
9. The method for controlling a four-axis eight-rotor unmanned aerial vehicle based on a ground control station of claim 1, wherein the ground control station in S1 further comprises performing a time stamp alignment and a space-time reference unification process on the uploaded multi-source data.

Description

Four-axis eight-rotor unmanned manned plane control method based on ground control station Technical Field The invention relates to the technical field of unmanned aerial vehicle intelligent control, in particular to a four-axis eight-rotor unmanned aerial vehicle control method based on a ground control station. Background With the rapid development of low-altitude economy, a four-axis eight-rotor configuration becomes an important choice of the manned aircraft due to the redundant power layout, high safety and good hovering performance. However, the existing ground control technology still has significant defects, the existing unmanned aerial vehicle multi-reliance on-board flight control system runs autonomously, a real-time control mechanism which is efficiently cooperated with a Ground Control Station (GCS) is lacked, and particularly, the problems of response lag, unsmooth control authority switching and the like exist in the scenes of emergency connection pipe, complex airspace scheduling, high-precision track guiding and the like. Disclosure of Invention The invention aims to overcome the technical defects and provide a four-axis eight-rotor unmanned aerial vehicle control method based on a ground control station for realizing accurate injection of remote instructions and real-time feedback of flight states for safety protection. In order to solve the technical problems, the technical scheme provided by the invention is that the four-axis eight-rotor unmanned aerial vehicle control method based on the ground control station comprises the following steps: S1, configuring a multimode communication receiving unit through a ground control station, and converging flight state data, environment perception data and airborne system monitoring data uploaded by a four-axis eight-rotor unmanned aerial vehicle in real time; S2, the ground control station performs standardized preprocessing and validity verification on the acquired multi-source data and then performs multi-source fusion processing to generate fusion situation data representing the current flight comprehensive situation; S3, the ground control station performs flight risk dynamic assessment and track feasibility analysis based on the fusion situation data, preset flight mission planning and dynamic safety constraint conditions, and outputs risk level judgment results and track optimization suggestions; S4, generating a flight control instruction sequence according to the risk level judging result and the flight path optimizing suggestion, and executing safety boundary check, logic consistency check and double-channel redundancy check on the instruction sequence; S5, the ground control station transmits the flight control instruction sequence passing the verification to the unmanned plane flight control system, and monitors the instruction transmission state in real time; and S6, the ground control station receives instruction execution feedback data returned by the flight control system, and performs control deviation analysis and parameter self-adaptive adjustment based on the feedback data to form closed-loop control. Preferably, the environment sensing data comprises an airborne vision sensor, a millimeter wave radar and a laser radar which are collected in a fusion way and uploaded; The ground control station carries out remote diagnosis and calibration prompt on the perceived data quality. Preferably, the dynamic security constraint condition comprises an electronic geofence, a weather threshold, a manned comfort parameter and a dynamic redundancy index; the ground control station configures and dynamically updates the dynamic security constraint conditions in real time based on the man-machine interaction interface. Preferably, the transmission instruction sequence is based on a primary and a secondary redundant communication links, including a satellite communication link and a ground data link; The ground control station realizes millisecond seamless switching based on a link quality monitoring result, and embeds an anti-interference encryption and instruction integrity verification mechanism. Preferably, in the step S6, when the ground control station identifies that the execution deviation exceeds the limit, the communication link is abnormal or the system health status is alarmed, a hierarchical emergency control strategy is automatically triggered, and a visual alarm, a treatment guide and a manual intervention confirmation option are synchronously generated on a man-machine interaction interface. Preferably, the hierarchical emergency control strategy comprises at least one of instruction re-tuning, track smooth re-planning, autonomous return voyage, safe hovering and controlled landing; the manual intervention confirmation options comprise policy confirmation, parameter adjustment and takeover control by an operator through a ground control station man-machine interaction interface. Preferably, a bidirectional security verification