CN114035615B - Data real-time transmission system and method in unmanned aerial vehicle inspection - Google Patents
Data real-time transmission system and method in unmanned aerial vehicle inspection Download PDFInfo
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Abstract
The invention discloses a real-time data transmission system and method in unmanned aerial vehicle inspection, which comprises the following steps: a communication information acquisition module, a database, a patrol data analysis module, a data transmission control module and a transmission path optimization module, the distribution data of the line to be inspected and the distribution data of the communication stations are acquired by a communication information acquisition module, all the acquired information is stored in a database, the relative position of the inspection line is analyzed by an inspection data analysis module, meanwhile, the wireless signal coverage range of the corresponding communication station is analyzed, whether the wireless signal coverage range of the communication station is overlapped or not is judged through a data transmission control module, whether the unmanned aerial vehicle is in the overlapped area or not is analyzed, whether the data transmission is interfered or not is predicted, the probability of data mistransmission is predicted, the communication station for receiving the data is reminded to be switched in time, the transmission path is optimized through the transmission path optimization module, the problem that data are frequently and mistakenly transmitted during inspection is solved, and the real-time transmission efficiency of the inspection data is improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle inspection data transmission, in particular to a real-time data transmission system and method in unmanned aerial vehicle inspection.
Background
With the development of social science and technology, the unmanned aerial vehicle technology is applied to more and more fields, along with the generation of the unmanned aerial vehicle capable of completing remote operation, the unmanned aerial vehicle technology is gradually applied to the line inspection aspect, the line inspection efficiency is improved, and the inspection labor cost is saved;
however, when the unmanned aerial vehicle patrols and examines, real-time data need to be transmitted to the data receiving terminal, the following problems exist in the prior art: firstly, the unmanned aerial vehicle needs to take off and land many times when long-distance line routing inspection is completed, and a receiving terminal needs to follow the unmanned aerial vehicle all the time, so that the stability of data transmission is not kept; secondly, in order to get rid of the scope restriction of unmanned aerial vehicle patrol and examine operation, send and patrol and examine data to the communication website, transmit to receiving terminal through radio communication between the website finally, however, in the intensive region of the route of patrolling and examining, owing to set up many communication websites, partial circuit is close very closely for wireless signal coverage on the different circuits overlaps, causes the interference to data transmission easily, and prior art can't solve the problem that the frequent mistransmission of data appears.
Therefore, a real-time data transmission system and method in unmanned aerial vehicle inspection are needed to solve the above problems.
Disclosure of Invention
The invention aims to provide a data real-time transmission system and a data real-time transmission method in unmanned aerial vehicle inspection, which aim to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides a data real-time transmission system in unmanned aerial vehicle patrols and examines which characterized in that: the system comprises: the system comprises: the system comprises a communication information acquisition module, a database, a patrol data analysis module, a data transmission control module and a transmission path optimization module;
the method comprises the steps that line distribution data needing to be patrolled and unmanned aerial vehicle patrolling data transmission targets, namely distribution data of communication stations, are collected through a communication information collection module, and all collected information is stored in a database;
positioning the unmanned aerial vehicle on the inspection line through the inspection data analysis module, analyzing the relative position of the inspection line, analyzing the coverage range of wireless signals of corresponding communication stations, and transmitting the analysis result to the data transmission control module;
judging whether the coverage areas of wireless signals of the communication sites are overlapped through the data transmission control module, analyzing whether the unmanned aerial vehicle is in the overlapping area, predicting whether data transmission is interfered according to the analysis result, analyzing the probability of routing inspection data mistransmission according to the prediction result, setting a probability threshold value, and reminding switching of the communication sites receiving data when the mistransmission probability exceeds the threshold value;
and adjusting the switched communication station as a new routing inspection data transmission object through the transmission path optimization module, and performing secondary optimization on the transmission path after adjustment.
Furthermore, the communication information acquisition module comprises an inspection information acquisition unit and a station information acquisition unit, and the inspection information acquisition unit is used for acquiring the relative position information of the line requiring the inspection of the unmanned aerial vehicle; the station information acquisition unit is used for acquiring station position information of the unmanned aerial vehicle inspection data and transmitting all acquired data to the database.
Furthermore, the inspection data analysis module comprises an unmanned aerial vehicle positioning unit, a line distribution analysis unit and a station analysis unit, wherein the unmanned aerial vehicle positioning unit is used for positioning the unmanned aerial vehicle and acquiring position data of all unmanned aerial vehicles for inspection; the line distribution analysis unit is used for analyzing the relative position of the routing inspection line with the intersection point; the station analysis unit is used for analyzing the wireless signal coverage range of the corresponding communication station.
Further, the data transmission control module includes an interference prediction unit, a mistransmission probability prediction unit, and a station switching reminding unit, where the interference prediction unit is configured to determine whether there is an overlapping area in the wireless signals of each station, and if there is an overlapping area in the wireless signals of each station: whether the unmanned aerial vehicle is in an overlapping area or not is analyzed, and whether routing inspection data transmission is interfered or not is judged; the mistransmission probability prediction unit is used for predicting the mistransmission probability of the routing inspection data; if the error transmission probability exceeds a threshold value, the station switching reminding unit is used for reminding the communication station switching; the transmission path optimization module comprises a primary transmission adjustment unit and a secondary transmission adjustment unit, and the primary transmission adjustment unit is used for adjusting an inspection data transmission object; the transmission secondary adjusting unit is used for optimizing the data transmission route after adjusting the data transmission object.
The utility model provides a data real-time transmission method in unmanned aerial vehicle patrols and examines which characterized in that: the method comprises the following steps:
s1: collecting inspection line information and communication station position information, and analyzing the relative position of an inspection line and the wireless signal coverage range of a communication station;
s2: judging whether the coverage areas of the wireless signals are overlapped, if so, judging whether the unmanned aerial vehicle is in an overlapping area, predicting whether data transmission is interfered, and if so, predicting the data mistransmission probability;
s3: and setting a probability threshold, if the predicted mistransmission probability exceeds the threshold, reminding to switch communication sites, adjusting data transmission objects, and optimizing routing inspection data transmission routes after adjustment.
Further, in step S1: first inspection line acquired by inspection information acquisition unitThe coordinates of the positions of the first fixed communication station and the second fixed communication station are (x 1, y 1) and (x 2, y 2), respectively, and the equation of the straight line where the corresponding routing inspection line is located is obtained as follows:
and obtaining a linear equation of a second routing inspection line with an intersection point with the first routing inspection line as follows:
wherein (X1, Y1) and (X2, Y2) respectively represent the first fixed communication station and the second fixed station position coordinates on the second patrol line, and the relative positions of the two patrol lines are analyzed by the line distribution analyzing unit: calculating the included angle of the straight lines of the two routing inspection lines according to the following formula
：
The station analysis unit is used for analyzing the wireless signal coverage ranges of all communication stations on the first inspection line as follows: the circle with the site as the center and the area of s = { s1, s2, …, sn } is located, and the wireless signal coverage range of the communication site on the second inspection line is as follows: the method comprises the following steps of taking sites as circle centers, wherein the areas of the sites are within the ranges of circles of S = { S1, S2, … and Sn }, wherein n represents the number of communication sites on inspection lines, the number of sites on two inspection lines is the same, an analysis result is transmitted to a data transmission control module, and the included angle of a straight line where an adjacent inspection line is located is calculated by using a straight line equation where the inspection lines are located, so that the purpose that: the approach degree of the routing inspection line is reflected through the included angle, and the basis for predicting the data mistransmission probability is provided.
Further, in step S2: judging whether the wireless signals of each station have an overlapping range by using an interference prediction unit: obtaining two random communication station wireless signals on two inspection lines according to wireless signal coverageThe covering radii are respectively: ri and Ri, where Ri>Ri，
，
Wherein Si represents the wireless signal coverage area of a random communication site on the first routing inspection line, Si represents the wireless signal coverage area of a random communication site on the second routing inspection line, and whether the wireless signal coverage areas of the random two communication sites overlap is judged according to the following formula:
wherein, (Xi, Yi) respectively represent the position coordinates of two corresponding communication stations, L represents the difference of the sum of the station distance and the radius, and L represents’Indicating the difference between the distance and radius of the station if L<0 and L’>0, judging that the coverage areas are overlapped; otherwise, judge that the coverage does not overlap, when judging that the coverage has the overlap, utilize unmanned aerial vehicle positioning unit to fix a position the coordinate to current unmanned aerial vehicle to be (A, B), current unmanned aerial vehicle represents the unmanned aerial vehicle of patrolling and examining the first circuit of patrolling and examining, judges whether unmanned aerial vehicle is in the overlap region according to the following formula:
wherein D and D’Respectively representing the difference between the distances from the unmanned aerial vehicle to the two communication stations and the radius, if D is less than or equal to 0And D’Judging that the unmanned aerial vehicle is in the overlapping area, predicting that data transmission between the unmanned aerial vehicle and a communication station corresponding to the position coordinate (xi, yi) on the first routing inspection line is interfered by a second routing inspection line; otherwise, judge that unmanned aerial vehicle is not in the overlap area, the prediction data transmission can not disturbed, whether the wireless coverage of the corresponding communication website on two patrolling and examining the circuit that is close to has the overlap phenomenon through the purpose of calculating the difference of communication website interval and wireless signal coverage radius sum, whether the unmanned aerial vehicle appears in the overlap area through the purpose of calculating the distance of unmanned aerial vehicle to two communication websites and corresponding radial difference in the quick judgement, be favorable to whether can be influenced by the wireless signal on the patrolling and examining the circuit that is close to with this prediction data transmission.
Further, in step S3: when the data transmission is predicted to be interfered, predicting the data mistransmission probability by using a mistransmission probability prediction unit: calculating the data mistransmission probability P according to the following formula:
wherein,
，s’indicates the area of the overlapping area, si indicates the wireless signal coverage area of a random communication station on the first inspection line,
representing the included angle formed by the straight lines of the first routing inspection line and the second routing inspection line, and setting the error transmission probability threshold value as P’Comparing P and P’: if P is less than or equal to P’If the error transmission probability does not exceed the threshold value, the communication station is not switched; if P>P’When the predicted mistransmission probability exceeds the threshold value, the station switching reminding unit is used for reminding the switching of the communication stations, the larger the area of the wireless signal overlapping area is, the smaller the included angle between two straight lines is, the higher the data mistransmission probability is, and when the data mistransmission probability is calculatedAnd the relative position factor of the routing inspection line is added, so that a more accurate prediction result is obtained.
Further, the station switching reminding unit is used for reminding the unmanned aerial vehicle control center to switch the communication stations, after the unmanned aerial vehicle control center receives the reminding, the unmanned aerial vehicle control center confirms whether data transmission exists between the unmanned aerial vehicle and the communication stations corresponding to the position coordinates (xi, yi), if not, the primary transmission adjusting unit is used for controlling the unmanned aerial vehicle to transmit the polling data to the corresponding communication stations, the data transmission object is adjusted to be the corresponding communication station, the secondary transmission adjusting unit is used for optimizing the data transmission route, and whether the communication stations need to be switched or not is timely reminded, so that the problem of frequent and mistaken transmission of the data during the polling of the unmanned aerial vehicle in the prior art is fundamentally solved, and the real-time transmission efficiency of the polling data is improved.
Compared with the prior art, the invention has the following beneficial effects:
the invention calculates the included angle of the straight line of the routing inspection line by collecting the position information of the communication stations, thereby reflecting the approaching degree of the routing inspection line, being one of the bases for predicting the probability of data mistransmission, quickly judging whether the wireless coverage areas of the corresponding communication stations on the two approaching routing inspection lines overlap or not by calculating the difference between the distance between the communication stations and the radius of the wireless signal coverage area, quickly judging whether the unmanned aerial vehicle appears in the overlapping area or not by calculating the difference between the distance from the unmanned aerial vehicle to the two communication stations and the radius of the corresponding communication stations, predicting whether the data transmission is influenced by the wireless signal on the approaching routing inspection line or not according to the judgment result, adding the relative position factor of the routing inspection line when calculating the probability of data mistransmission, being beneficial to obtaining more accurate prediction result, timely reminding and confirming whether the communication stations need to be switched or not, and fundamentally solving the problem of frequent mistransmission of data when the unmanned aerial vehicle inspects the routing inspection in the prior art, the real-time transmission efficiency of the routing inspection data is improved.
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The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a structural diagram of a data real-time transmission system in unmanned aerial vehicle inspection according to the present invention;
fig. 2 is a flow chart of a real-time data transmission method in the unmanned aerial vehicle inspection of the invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Referring to fig. 1-2, the present invention provides a technical solution: the utility model provides a data real-time transmission system in unmanned aerial vehicle patrols and examines which characterized in that: the system comprises: the system comprises a communication information acquisition module, a database, a patrol data analysis module, a data transmission control module and a transmission path optimization module;
the method comprises the steps that line distribution data needing to be patrolled and unmanned aerial vehicle patrol data transmission targets, namely distribution data of communication stations, are collected through a communication information collection module, and all collected information is stored in a database;
positioning the unmanned aerial vehicle on the inspection line through an inspection data analysis module, analyzing the relative position of the inspection line, analyzing the coverage range of wireless signals of corresponding communication stations, and transmitting the analysis result to a data transmission control module;
judging whether the coverage area of wireless signals of communication sites is overlapped through a data transmission control module, analyzing whether an unmanned aerial vehicle is in an overlapping area, predicting whether data transmission is interfered according to an analysis result, analyzing the probability of routing inspection data mistransmission according to the prediction result, setting a probability threshold value, and reminding switching of the communication sites receiving data when the mistransmission probability exceeds the threshold value;
and adjusting the switched communication station as a new routing inspection data transmission object through a transmission path optimization module, and performing secondary optimization on the transmission path after adjustment.
The communication information acquisition module comprises an inspection information acquisition unit and a station information acquisition unit, and the inspection information acquisition unit is used for acquiring the relative position information of a line requiring unmanned aerial vehicle inspection; the station information acquisition unit is used for acquiring station position information of the unmanned aerial vehicle inspection data and transmitting all acquired data to the database.
The inspection data analysis module comprises an unmanned aerial vehicle positioning unit, a line distribution analysis unit and a station analysis unit, wherein the unmanned aerial vehicle positioning unit is used for positioning the unmanned aerial vehicle and acquiring position data of all unmanned aerial vehicles for inspection; the line distribution analysis unit is used for analyzing the relative position of the routing inspection line with the intersection point; the station analysis unit is used for analyzing the wireless signal coverage range of the corresponding communication station.
The data transmission control module comprises an interference prediction unit, a mistransmission probability prediction unit and a station switching reminding unit, wherein the interference prediction unit is used for judging whether the wireless signals of each station have an overlapping area, and if so, the data transmission control module comprises: whether the unmanned aerial vehicle is in an overlapping area or not is analyzed, and whether routing inspection data transmission is interfered or not is judged; the mistransmission probability prediction unit is used for predicting the mistransmission probability of the routing inspection data; if the error transmission probability exceeds the threshold value, the station switching reminding unit is used for reminding the communication station switching; the transmission path optimization module comprises a primary transmission adjustment unit and a secondary transmission adjustment unit, wherein the primary transmission adjustment unit is used for adjusting the routing inspection data transmission object; the transmission secondary adjustment unit is used for optimizing the data transmission route after adjusting the data transmission object.
The utility model provides a data real-time transmission method in unmanned aerial vehicle patrols and examines which characterized in that: the method comprises the following steps:
s1: collecting inspection line information and communication station position information, and analyzing the relative position of an inspection line and the wireless signal coverage range of a communication station;
s2: judging whether the coverage areas of the wireless signals are overlapped, if so, judging whether the unmanned aerial vehicle is in an overlapping area, predicting whether data transmission is interfered, and if so, predicting the data mistransmission probability;
s3: and setting a probability threshold, if the predicted error transmission probability exceeds the threshold, reminding to switch communication sites, adjusting a data transmission object, and optimizing a routing inspection data transmission route after adjustment.
In step S1:the position coordinates of a first fixed communication station and a second fixed communication station which are acquired by the patrol inspection information acquisition unit on the first patrol inspection line are (x 1, y 1) and (x 2, y 2), respectively, and the linear equation of the corresponding patrol inspection line is obtained as follows:
and obtaining a linear equation of a second routing inspection line with an intersection point with the first routing inspection line as follows:
wherein (X1, Y1) and (X2, Y2) respectively represent the first fixed communication station and the second fixed station position coordinates on the second patrol line, and the relative positions of the two patrol lines are analyzed by the line distribution analyzing unit: calculating the included angle of the straight lines of the two routing inspection lines according to the following formula
：
The station analysis unit is used for analyzing the wireless signal coverage ranges of all communication stations on the first inspection line as follows: the circle with the site as the center and the area of s = { s1, s2, …, sn } is located, and the wireless signal coverage range of the communication site on the second inspection line is as follows: the method comprises the steps of taking sites as circle centers, enabling the areas of circles with the areas of S = { S1, S2, … and Sn } to be within the ranges, enabling n to represent the number of communication sites on routing inspection lines, enabling the number of sites on two routing inspection lines to be the same, transmitting analysis results to a data transmission control module, and enabling the approaching degree of the routing inspection lines to be reflected clearly through included angles of straight lines, so that a basis is provided for predicting data mistransmission probability.
In step S2: judging whether the wireless signals of each station have an overlapping range by using an interference prediction unit: the method comprises the following steps of obtaining the wireless signal coverage radiuses of two random communication sites on two inspection lines according to the wireless signal coverage ranges, wherein the two random communication sites are respectively as follows: ri and Ri, where Ri>Ri，
，
Wherein Si represents the wireless signal coverage area of a random communication site on the first routing inspection line, Si represents the wireless signal coverage area of a random communication site on the second routing inspection line, and whether the wireless signal coverage areas of the random two communication sites overlap is judged according to the following formula:
wherein, (Xi, Yi) respectively represent the position coordinates of two corresponding communication stations, L represents the difference of the sum of the station distance and the radius, and L represents’Denotes the difference between the distance of the station and the radius, if L<0 and L’>0, judging that the coverage areas are overlapped; otherwise, judge that coverage does not overlap, when judging that coverage has the overlap, utilize unmanned aerial vehicle positioning unit to fix a position the position coordinate of current unmanned aerial vehicle to be (A, B), current unmanned aerial vehicle represents the unmanned aerial vehicle of patrolling and examining the first circuit of patrolling and examining, judges whether unmanned aerial vehicle is in the overlap region according to following formula:
wherein D and D’Respectively representing the difference between the distances from the unmanned aerial vehicle to the two communication stations and the radius, if D is less than or equal to 0 and D is less than or equal to’Less than or equal to 0, judging that the unmanned aerial vehicle is in the overlapping area,predicting that data transmission between the unmanned aerial vehicle and a communication station corresponding to the position coordinate (xi, yi) on the first routing inspection line is interfered by the second routing inspection line; otherwise, whether the unmanned aerial vehicle is in the overlapping area or not is judged, the predicted data transmission cannot be interfered, whether the wireless coverage area of the corresponding communication station on the two close inspection lines has an overlapping phenomenon or not is judged rapidly by calculating the difference between the distance between the communication stations and the radius sum of the coverage area of the wireless signals, whether the unmanned aerial vehicle appears in the overlapping area or not is judged rapidly by calculating the difference between the distance between the unmanned aerial vehicle and the two communication stations and the radius sum of the communication stations, and whether the predicted data transmission can be influenced by the wireless signals on the close inspection lines or not is judged.
In step S3: when the data transmission is predicted to be interfered, predicting the data mistransmission probability by using a mistransmission probability prediction unit: calculating the data mistransmission probability P according to the following formula:
wherein,
，s’indicates the area of the overlapping area, si indicates the wireless signal coverage area of a random communication station on the first inspection line,
representing the included angle formed by the straight lines of the first routing inspection line and the second routing inspection line, and setting the error transmission probability threshold value as P’Comparing P with P’: if P is less than or equal to P’If the error transmission probability does not exceed the threshold value, the communication station is not switched; if P>P’And when the prediction mistransmission probability exceeds the threshold value, the station switching reminding unit is used for reminding the switching of the communication stations, and when the data mistransmission probability is calculated, the relative position factor of the routing inspection line is added, so that a more accurate prediction result which is more in line with the actual situation is obtained.
Utilize the website to switch reminding unit and remind unmanned aerial vehicle control center to switch over the communication website, unmanned aerial vehicle control center receives the back of reminding, confirm on first inspection line, whether there is data transmission between unmanned aerial vehicle and the communication website that the position coordinate is (xi, yi) correspondence, if not, utilize the transmission once to adjust the unit control unmanned aerial vehicle transmission and patrol and examine data to corresponding communication website, adjust the data transmission object and be corresponding communication website, utilize transmission secondary adjustment unit optimization data transmission route, in time remind and confirm whether need switch over the communication website, fundamentally has solved the problem that the data frequently mistransmits when unmanned aerial vehicle patrols and examines among the prior art, the real-time transmission efficiency of data of patrolling and examining has effectively been improved.
The first embodiment is as follows: the position coordinates of the first fixed communication station and the second fixed communication station on the first inspection line are respectively (x 1, y 1) = (5, 2), (x 2, y 2) = (10, 10), and the equation of the straight line where the corresponding inspection line is located is obtained as follows:
and obtaining a linear equation of a second routing inspection line with an intersection point with the first routing inspection line as follows:
(X1, Y1) = (6, 6), (X2, Y2) = (12, 7), the relative positions of the two patrol routes are analyzed: according to the formula
Calculating the included angle of the straight lines of the two inspection lines
And analyzing the wireless signal coverage ranges of all communication sites on the first inspection line as follows: with the station as the center, the range of the circle with the area s = { s1, s2, s3} = {10, 40, 100}, respectively, and the wireless signal coverage range of the communication station on the second patrol line is: using stations as circle centers, wherein the circle with the area of S = { S1, S2, S3} = {20, 30, 80} is in the range with the unit of kilo square meters, and using an interference prediction unit to judge whether the wireless signals of each station have an overlapping range: according to the coverage of wireless signalsThe coverage radiuses of the wireless signals of two random communication sites on the two inspection lines are respectively as follows: r2 and R2, in the formula,
，
according to the formula
And
judging whether the coverage ranges of the wireless signals of the corresponding second communication sites on the first routing inspection line and the second routing inspection line are overlapped: l ≈ 3.1, L’≈3.1，L<0 and L’>0, judging that the coverage areas are overlapped, positioning the unmanned aerial vehicle to the current position coordinates of (A, B) = (11, 8), and obtaining the position coordinates of the unmanned aerial vehicle according to a formula
And
judging whether the unmanned aerial vehicle is in an overlapping area: d ≈ 1.4, D’≈-1.7，D<0 and D’<0, judging that the unmanned aerial vehicle is in the overlapping area, predicting that data transmission between the unmanned aerial vehicle and a communication station corresponding to the position coordinates (10, 10) on the first routing inspection line can be interfered by the second routing inspection line, and according to a formula
Calculating the data error transmission probability P ≈ 0.22, s’=30, set probability threshold of mistransmission to P’=0.5, comparing P and P’： P<P’And if the error transmission probability does not exceed the threshold value, the communication station is not switched.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides a data real-time transmission system in unmanned aerial vehicle patrols and examines which characterized in that: the system comprises: the system comprises a communication information acquisition module, a database, a patrol data analysis module, a data transmission control module and a transmission path optimization module;
the communication information acquisition module acquires line distribution data to be inspected and distribution data of communication stations, and all acquired information is stored in the database;
positioning the unmanned aerial vehicle on the inspection line through the inspection data analysis module, analyzing the relative position of the inspection line, analyzing the coverage range of wireless signals of corresponding communication stations, and transmitting the analysis result to the data transmission control module;
judging whether the coverage areas of wireless signals of the communication sites are overlapped through the data transmission control module, analyzing whether the unmanned aerial vehicle is in the overlapping area, predicting whether data transmission is interfered according to the analysis result, analyzing the probability of routing inspection data mistransmission according to the prediction result, setting a probability threshold value, and reminding switching of the communication sites receiving data when the mistransmission probability exceeds the threshold value;
adjusting the switched communication station as a new routing inspection data transmission object through the transmission path optimization module, and performing secondary optimization on the transmission path after adjustment;
the position coordinates of the first fixed communication station and the second fixed communication station on the first routing inspection line are (x 1, y 1) and (x 2, y 2), and the linear equation of the corresponding routing inspection line is obtained as follows:
to obtain a compound ofThe equation of a straight line where a second routing inspection line with an intersection point is located in the first routing inspection line is as follows:
wherein (X1, Y1) and (X2, Y2) represent the first fixed communication station and second fixed station location coordinates, respectively, on the second patrol line, the relative positions of the two patrol lines are analyzed: calculating the included angle of the straight lines of the two routing inspection lines according to the following formula
：
Analyzing the wireless signal coverage of all communication sites on the first inspection line as follows: the circle with the site as the center and the area of s = { s1, s2, …, sn } is located, and the wireless signal coverage range of the communication site on the second inspection line is as follows: taking sites as circle centers, and transmitting analysis results to a data transmission control module, wherein the ranges of circles with the areas respectively of S = { S1, S2, … and Sn }, n represents the number of communication sites on the inspection lines, and the number of sites on the two inspection lines is the same;
when the data transmission is predicted to be interfered, predicting the data error transmission probability: calculating the data mistransmission probability P according to the following formula:
wherein,
，s’representing the area of the overlapping region, and setting the threshold value of the probability of error propagation to be P’Comparing P with P’: if P is less than or equal to P’If the error transmission probability does not exceed the threshold value, the communication station is not switched; if P>P’To explain the error of predictionAnd when the transmission probability exceeds a threshold value, reminding the communication site switching.
2. The real-time data transmission system in unmanned aerial vehicle inspection tour according to claim 1, characterized in that: the communication information acquisition module comprises an inspection information acquisition unit and a station information acquisition unit, and the inspection information acquisition unit is used for acquiring the relative position information of a line requiring unmanned aerial vehicle inspection; the station information acquisition unit is used for acquiring station position information of the unmanned aerial vehicle inspection data and transmitting all acquired data to the database.
3. The real-time data transmission system in unmanned aerial vehicle inspection tour according to claim 1, characterized in that: the inspection data analysis module comprises an unmanned aerial vehicle positioning unit, a line distribution analysis unit and a station analysis unit, wherein the unmanned aerial vehicle positioning unit is used for positioning the unmanned aerial vehicle and acquiring position data of all unmanned aerial vehicles for inspection; the line distribution analysis unit is used for analyzing the relative position of the routing inspection line with the intersection point; the station analysis unit is used for analyzing the wireless signal coverage range of the corresponding communication station.
4. The real-time data transmission system in unmanned aerial vehicle inspection tour according to claim 1, characterized in that: the data transmission control module comprises an interference prediction unit, a mistransmission probability prediction unit and a station switching reminding unit, wherein the interference prediction unit is used for judging whether the wireless signals of each station have an overlapping area, and if so, the data transmission control module comprises: whether the unmanned aerial vehicle is in an overlapping area or not is analyzed, and whether routing inspection data transmission is interfered or not is judged; the mistransmission probability prediction unit is used for predicting the mistransmission probability of the routing inspection data; if the error transmission probability exceeds a threshold value, the station switching reminding unit is used for reminding the communication station switching; the transmission path optimization module comprises a primary transmission adjustment unit and a secondary transmission adjustment unit, wherein the primary transmission adjustment unit is used for adjusting an inspection data transmission object; the transmission secondary adjusting unit is used for optimizing the data transmission route after adjusting the data transmission object.
5. The utility model provides a data real-time transmission method in unmanned aerial vehicle patrols and examines which characterized in that: the method comprises the following steps:
s1: collecting inspection line information and communication station position information, and analyzing the relative position of an inspection line and the wireless signal coverage range of a communication station;
s2: judging whether the coverage areas of the wireless signals are overlapped, if so, judging whether the unmanned aerial vehicle is in an overlapping area, predicting whether data transmission is interfered, and if so, predicting the data mistransmission probability;
s3: setting a probability threshold, if the predicted error transmission probability exceeds the threshold, reminding to switch communication sites, adjusting data transmission objects, and optimizing routing inspection data transmission routes after adjustment;
in step S1: the position coordinates of a first fixed communication station and a second fixed communication station on a first routing inspection line acquired by using a routing inspection information acquisition unit are (x 1, y 1) and (x 2, y 2), and the linear equation of the corresponding routing inspection line is obtained as follows:
and obtaining a linear equation of a second routing inspection line with an intersection point with the first routing inspection line as follows:
wherein (X1, Y1) and (X2, Y2) respectively represent the first fixed communication station and the second fixed station position coordinates on the second patrol line, and the relative positions of the two patrol lines are analyzed by the line distribution analyzing unit: calculating the included angle of the straight lines of the two routing inspection lines according to the following formula
：
The station analysis unit is used for analyzing the wireless signal coverage ranges of all communication stations on the first inspection line as follows: the circle with the site as the center and the area of s = { s1, s2, …, sn } is located, and the wireless signal coverage range of the communication site on the second inspection line is as follows: taking sites as circle centers, and transmitting analysis results to a data transmission control module, wherein the ranges of circles with the areas respectively of S = { S1, S2, … and Sn }, n represents the number of communication sites on the inspection lines, and the number of sites on the two inspection lines is the same;
in step S3: when the data transmission is predicted to be interfered, predicting the data mistransmission probability by using a mistransmission probability prediction unit: calculating the data mistransmission probability P according to the following formula:
wherein,
，s’the area of the overlapping region is represented, and the threshold value of the probability of mistransmission is set to be P’Comparing P with P’: if P is less than or equal to P’If the mistransmission probability does not exceed the threshold value, the communication station is not switched; if P>P’And if the prediction error transmission probability exceeds the threshold value, the station switching reminding unit is used for reminding the communication station switching.
6. The real-time data transmission method in unmanned aerial vehicle inspection according to claim 5, characterized in that: in step S2: judging whether the wireless signals of each station have an overlapping range by using an interference prediction unit: the coverage radiuses of the wireless signals of the two random communication stations on the two inspection lines are obtained according to the coverage range of the wireless signals and are respectively as follows: ri and Ri, where Ri>Ri，
，
Judging whether the coverage areas of the wireless signals of the two random communication stations are overlapped according to the following formula:
wherein, (Xi, Yi) respectively represent the position coordinates of two corresponding communication stations, L represents the difference of the sum of the station distance and the radius, and L represents’Denotes the difference between the distance of the station and the radius, if L<0 and L’>0, judging that the coverage areas are overlapped; otherwise, judge that coverage does not overlap, when judging that coverage has the overlap, utilize unmanned aerial vehicle positioning unit to fix a position the position coordinate of current unmanned aerial vehicle to be (A, B), current unmanned aerial vehicle represents the unmanned aerial vehicle of patrolling and examining the first circuit of patrolling and examining, judges whether unmanned aerial vehicle is in the overlap region according to following formula:
wherein D and D’Respectively representing the difference between the distances from the unmanned aerial vehicle to the two communication stations and the radius, if D is less than or equal to 0 and D is less than or equal to’Judging that the unmanned aerial vehicle is in the overlapping area, predicting that data transmission between the unmanned aerial vehicle and a communication station corresponding to the position coordinate (xi, yi) on the first routing inspection line is interfered by a second routing inspection line; otherwise, the unmanned aerial vehicle is judged not to be in the overlapping area, and the predicted data transmission cannot be interfered.
7. The real-time data transmission method in unmanned aerial vehicle inspection according to claim 5, characterized in that: utilize the website to switch reminding unit and remind unmanned aerial vehicle control center to switch communication website, unmanned aerial vehicle control center receives the back of reminding, confirms on first patrol and examine the circuit, whether there is data transmission between unmanned aerial vehicle and the communication website that the position coordinate is (xi, yi) correspondence, if do not, utilize the transmission once to adjust the unit control unmanned aerial vehicle transmission and patrol and examine data to corresponding communication website, adjust the data transmission object and be corresponding communication website, utilize transmission secondary adjustment unit to optimize the data transmission route.
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