CN-122028024-A - Self-adaptive Beidou short message emergency remote control and telemetry method

CN122028024ACN 122028024 ACN122028024 ACN 122028024ACN-122028024-A

Abstract

The application discloses a self-adaptive Beidou short message emergency remote control and telemetry method. The method comprises the steps of identifying the communication length and frequency level of Beidou short message equipment on a host, determining a telemetry transmission scheme, filling downlink data frames, determining a remote control transmission scheme, receiving and filling uplink remote control data frames, establishing a telemetry transmission task, periodically inquiring whether the Beidou short message sending count-down time is 0 or not by the telemetry transmission task, sending downlink data frames if the Beidou short message sending count-down time is 0, exiting and waiting for next inquiry if the Beidou short message sending count-down time is not 0, establishing a remote control receiving task, periodically inquiring whether an asynchronous communication interface connected with the short message equipment receives data or not by the remote control receiving task, storing the received data into a buffer zone, and checking and taking out complete uplink remote control data frames according to frame heads, frame tails and frame frames. The application can adapt to different grades of Beidou short message communication frequency and length grades, has strong program adaptability, and can automatically match with the maximum communication transmission capacity when the grade of the user card changes.

Inventors

CHEN YIPING
SONG FAZHEN
Zhao Xiaoce
BAI ZIYANG
ZHANG ZIMO

Assignees

彩虹无人机科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260128

Claims (8)

1. The self-adaptive Beidou short message emergency remote control and measurement method is characterized by comprising the following steps of: identifying the communication length and frequency level of Beidou short message equipment on a host; Determining a telemetry transmission scheme, and filling downlink data frames; determining a remote control transmission scheme, and receiving and filling an uplink remote control data frame; establishing a telemetry transmission task, periodically inquiring whether the transmission countdown of the Beidou short message is 0 or not by the telemetry transmission task, transmitting a downlink data frame if the transmission countdown of the Beidou short message is 0, and exiting and waiting for the next inquiry if the transmission countdown of the Beidou short message is not 0; And establishing a remote control receiving task, periodically inquiring whether an asynchronous communication interface connected with the short message equipment receives data or not by the remote control receiving task, storing the received data into a buffer area, and taking out a complete uplink remote control data frame according to frame head, frame tail and frame check.
2. The adaptive Beidou short message emergency remote control telemetry method of claim 1, wherein the length grade is a maximum number of bytes which can be transmitted each time a short message is sent.
3. The adaptive Beidou short message emergency remote control telemetry method of claim 1, wherein the frequency level is a shortest time interval for sending short message messages.
4. The adaptive beidou short message emergency remote control telemetry method of claim 1, wherein determining a telemetry transmission scheme and filling a downlink data frame comprises: determining a plurality of telemetry data frames and short message special downlink telemetry frames; before data transmission, determining whether residual bytes exist after the short message special downlink telemetry frame, if yes, transmitting the telemetry data frame and the short message special downlink telemetry frame together, and if no, transmitting only the short message special downlink telemetry frame.
5. The adaptive Beidou short message emergency remote control telemetry method of claim 4, wherein if a downlink telemetry frame special for the short message is followed by a remaining byte, the remaining frame number is calculated: Byte number +m of short message special downlink telemetry frame The byte number of the telemetry data frame is less than or equal to L_class Where m is the number of frames remaining and L_class is the length scale.
6. The adaptive Beidou short message emergency remote control telemetry method of claim 5, wherein if m is greater than or equal to the total number of telemetry data frames, transmitting all telemetry data frames together with a short message dedicated downlink telemetry frame; if 1<m < total number of telemetry data frames, circularly transmitting m telemetry data frames and short message special downlink telemetry frames according to a sequence period; if m is more than or equal to 0 and less than 1, only transmitting the downlink telemetry frame special for the short message.
7. The adaptive beidou short message emergency remote control telemetry method of claim 1, wherein determining a remote control transmission scheme, receiving and filling an uplink remote control data frame comprises: determining the byte number of each instruction, wherein the uplink instruction type occupies 1 byte, the uplink remote control remote adjustment instruction codes one and occupies 2 bytes, and the mode of using 5 repetition codes for 10 bytes is used for preventing wireless transmission interference errors; And determining the instruction number according to the byte number of the short message.
8. The adaptive Beidou short message emergency remote control telemetry method of claim 7, wherein if the communication length grade is high, a plurality of uplink short messages are sent at a time.

Description

Self-adaptive Beidou short message emergency remote control and telemetry method Technical Field The invention relates to the technical field of unmanned aerial vehicle control, in particular to a self-adaptive Beidou short message emergency remote control telemetry method. Background Along with the development of science and technology, the speed of the medium-and-large-sized unmanned aerial vehicle is faster and faster, the voyage and the endurance are longer and longer, and various types of communication links with various wave bands are applied to the unmanned aerial vehicle. The wireless measurement and control link can be called a life line for the unmanned aerial vehicle, and the complete measurement and control link not only can be used for a ground control station to monitor and know the state of the unmanned aerial vehicle in real time, but also can be used for the ground control station to control the aircraft to smoothly finish tasks and safely return to the field. Once the wireless measurement and control link is interrupted, the ground control station loses contact with the unmanned aerial vehicle, the unmanned aerial vehicle can not continue to execute tasks, and only an emergency return flow can be started. Wireless links are line-of-sight links and over-the-horizon links, which have small delays, but are limited in range, typically in the hundreds of kilometers range, and are subject to earth curvature and obstruction. For unmanned aerial vehicles with thousands of kilometers of voyage, the unmanned aerial vehicle is obviously insufficient, so that the unmanned aerial vehicle is also generally provided with a beyond-the-horizon link for executing beyond-the-horizon tasks, the beyond-the-horizon link has a long acting distance and can cover the whole world theoretically, the beyond-the-horizon link comprises a satellite relay link and an elevating platform relay link, and the satellite relay link is widely applied to medium-and-large-scale unmanned aerial vehicles at present. But equipment faults, extreme weather, concentrated cloud layers and other factors can also cause short-time interruption or complete interruption of the satellite link. With the development and perfection of Beidou satellite navigation systems, beidou short message emergency communication is used as a new communication means, and is increasingly applied to the civil and military fields. The Beidou short message is used as a communication link to be installed on the unmanned aerial vehicle, so that the redundancy of the wireless communication measurement and control link can be increased, the task execution capacity of the unmanned aerial vehicle is enhanced, and the flight safety is improved. Unmanned aerial vehicle contains systems such as flight control, navigation, power, fuel oil, electricity, undercarriage, environmental control, fire control, task load, and along with unmanned aerial vehicle type is bigger and bigger, the ability of executing tasks is stronger and more, the system is also more and more complicated, telemetry information and remote control instructions of unmanned aerial vehicle are also more and more, ground control station want the telemetry data and data high refresh frequency that increase and wireless communication link's transmission bandwidth limit of getting produce contradiction, how to make full use of limited wireless transmission bandwidth to transmit more faster data is the difficult problem that system design was considered. Therefore, it is necessary to develop a self-adaptive Beidou short message emergency remote control telemetry method. The information disclosed in the background section of the invention is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art. Disclosure of Invention The invention provides a self-adaptive Beidou short message emergency remote control telemetry method which can be adaptive to Beidou short message communication frequency and length grades of different grades, has strong program adaptability, and can automatically match with the maximum communication transmission capacity when the grade of a user card changes. The embodiment of the disclosure provides a self-adaptive Beidou short message emergency remote control telemetry method, which comprises the following steps: identifying the communication length and frequency level of Beidou short message equipment on a host; Determining a telemetry transmission scheme, and filling downlink data frames; determining a remote control transmission scheme, and receiving and filling an uplink remote control data frame; establishing a telemetry transmission task, periodically inquiring whether the transmission countdown of the Beidou short message is 0 or not by the telemetry transmission task, transmitting a downlink data frame if