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WO2017124988A1 - 地面站、无人机及地面站与无人机的通信系统、方法 - Google Patents

地面站、无人机及地面站与无人机的通信系统、方法 Download PDF

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Publication number
WO2017124988A1
WO2017124988A1 PCT/CN2017/071290 CN2017071290W WO2017124988A1 WO 2017124988 A1 WO2017124988 A1 WO 2017124988A1 CN 2017071290 W CN2017071290 W CN 2017071290W WO 2017124988 A1 WO2017124988 A1 WO 2017124988A1
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WIPO (PCT)
Prior art keywords
transaction
ground station
frame
drone
communication module
Prior art date
Application number
PCT/CN2017/071290
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English (en)
French (fr)
Inventor
欧阳宇基
谢安平
Original Assignee
广州极飞科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广州极飞科技有限公司 filed Critical 广州极飞科技有限公司
Priority to AU2017209229A priority Critical patent/AU2017209229B2/en
Priority to EP17741019.8A priority patent/EP3407658A4/en
Priority to KR1020187001919A priority patent/KR102170344B1/ko
Priority to US15/568,972 priority patent/US10885793B2/en
Priority to JP2018515847A priority patent/JP6548286B2/ja
Publication of WO2017124988A1 publication Critical patent/WO2017124988A1/zh

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0004—Transmission of traffic-related information to or from an aircraft
    • G08G5/0013—Transmission of traffic-related information to or from an aircraft with a ground station
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/50—Allocation or scheduling criteria for wireless resources
    • H04W72/56—Allocation or scheduling criteria for wireless resources based on priority criteria
    • H04W72/566—Allocation or scheduling criteria for wireless resources based on priority criteria of the information or information source or recipient
    • H04W72/569—Allocation or scheduling criteria for wireless resources based on priority criteria of the information or information source or recipient of the traffic information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0027—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
    • G08G5/0026—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located on the ground
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0043—Traffic management of multiple aircrafts from the ground
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/14—Session management
    • H04L67/141—Setup of application sessions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/50—Network services
    • H04L67/60—Scheduling or organising the servicing of application requests, e.g. requests for application data transmissions using the analysis and optimisation of the required network resources
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/50—Secure pairing of devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/04—Wireless resource allocation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/04—Wireless resource allocation
    • H04W72/044—Wireless resource allocation based on the type of the allocated resource
    • H04W72/0446—Resources in time domain, e.g. slots or frames
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/12—Wireless traffic scheduling
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H04W76/14—Direct-mode setup
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/30—Connection release
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
    • H04W84/04—Large scale networks; Deep hierarchical networks
    • H04W84/06—Airborne or Satellite Networks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • the present invention relates to the field of UAV communication technologies, and in particular, to a ground station, a drone, and a communication system and method for a ground station and a drone.
  • ground stations can be used to control the drone by issuing control commands to the drone. Since the single application in the ground station can no longer meet the multi-faceted control of the UAV at this stage, the UAV field has multiple UAVs for formation work, and there are multiple applications in the ground station, and multiple applications can control The need for drones to achieve multiple functions. Since the communication between the UAV and the ground station requires long-distance communication, high real-time communication, and low packet loss rate communication, special communication hardware devices are required to realize communication between the UAV and the ground station. And communication protocols.
  • multiple independent applications need to communicate with multiple UAVs
  • multiple applications need to sequentially occupy the communication module in the ground station to communicate with the UAV, that is, an application occupies the communication module to complete communication with the UAV.
  • another application can occupy the communication module to communicate with the drone, thereby reducing the communication efficiency between multiple applications and multiple UAVs.
  • the object of the present invention is to provide a ground station, a drone, and a communication system and method for a ground station and a drone, which are used to reduce the complexity of communication between multiple applications and multiple drones, and improve multiple applications and Communication efficiency between multiple drones.
  • an embodiment of the present invention provides a ground station, where the ground station includes a first communication module and a transaction scheduling module connected to the first communication module, where the transaction scheduling module is configured to store the ground station
  • the application generated transaction frame is further configured to control the first communication module to send the transaction frame to the target drone, acquire the data frame received by the first communication module, and provide the data frame to the An application in a ground station for operating the target drone.
  • an embodiment of the present invention provides a drone, the UAV includes a second communication module and a flight controller, and the second communication module is configured to receive a ground station to control the first communication module by using a transaction scheduling module.
  • a transmitted transaction frame generated by an application in a ground station for operating a drone
  • the flight controller is configured to acquire a transaction frame received by the second communication module, and control a drone execution center The operation indicated by the transaction frame
  • the flight controller is further configured to control the second communication module to return a data frame to the first communication module of the ground station, so that the ground station controls the first communication by using a transaction scheduling module
  • the module receives the data frame and provides the data frame to an application in the ground station.
  • an embodiment of the present invention provides a communication system between a ground station and a drone, including a ground station and at least one unmanned aerial vehicle, where the ground station is configured to send a transaction frame to a target drone, A transaction frame is generated by an application in the ground station for operating the target drone;
  • the UAV is configured to receive and acquire a transaction frame sent by the ground station, and perform an operation indicated by the transaction frame; the UAV is further configured to return a data frame to the ground station;
  • the ground station is further configured to receive a data frame returned by the target drone and provide the data frame to the application.
  • an embodiment of the present invention provides a communication method between a ground station and a drone, where the ground station includes a data frame for transmitting a transaction frame to the drone or receiving a data frame sent by the drone.
  • a communication module; the communication method of the ground station and the drone includes:
  • an embodiment of the present invention provides a communication method between a UAV and a ground station, where the UAV includes a transaction frame for receiving a ground station or a second data frame for transmitting the data frame to the ground station.
  • the communication module, the communication method of the ground station and the drone includes:
  • a sixth aspect relates to a communication method of a ground station and a drone, the ground station comprising a first communication module for transmitting a transaction frame to the drone or receiving a data frame transmitted by the drone;
  • the communication methods of the ground station and the drone include:
  • the ground station controls, by the real-time transaction scheduling pool, the first communication module to send a transaction frame to a target drone, the transaction frame is generated by an application in a ground station, and the application is used to operate the target drone ;
  • the UAV receives and acquires a transaction frame sent by the ground station, and performs an operation indicated by the transaction frame;
  • the drone returns a data frame to the ground station
  • the ground station uses the real-time transaction scheduling pool to acquire a data frame received by the first communication module, and provides the data frame to an application in the ground station.
  • the ground station controls the first communication module to send a transaction frame to the drone through a transaction scheduling module or a real-time transaction scheduling pool or
  • the transaction scheduling module or the real-time transaction scheduling pool in the ground station in the example stores the transaction frame applied in the ground station, and the transaction scheduling module or the real-time transaction scheduling pool occupies the first communication module, thereby enabling multiple applications to utilize the transaction scheduling module or real-time transaction.
  • Scheduling the pool to control the first communication module to send a transaction frame or acquire a data frame that is, by a transaction scheduling module or real-time transaction scheduling
  • the pool may control the first communication module to send a transaction frame of any application or acquire a data frame of any application, thereby ensuring that the transaction scheduling module or the real-time transaction scheduling pool sequentially sends the transaction frames of multiple applications through the first communication module. Or ensuring that the transaction scheduling module or the real-time transaction scheduling pool acquires the data frames required by the plurality of applications from the first communication module in an orderly manner, eliminating the step of the application consuming the first communication module and then exiting, thereby reducing multiple applications and multiple applications.
  • the complexity of communication between drones thereby improving the communication efficiency between multiple applications and multiple drones.
  • FIG. 1 is a schematic structural view of a ground station according to Embodiment 1 of the present invention.
  • FIG. 2 is a schematic structural diagram of a ground station according to Embodiment 2 of the present invention.
  • FIG. 3 is a schematic structural diagram of a ground station according to Embodiment 3 of the present invention.
  • FIG. 4 is a schematic diagram of a transmission frame queue before a ground station sends a transaction frame once in a third embodiment of the present invention
  • FIG. 5 is a schematic diagram of a transmission frame queue after a ground station sends a transaction frame once in a third embodiment of the present invention
  • FIG. 6 is a second schematic diagram of a transmission frame queue after a ground station sends a transaction frame once in a third embodiment of the present invention
  • FIG. 7 is a schematic structural diagram of a ground station according to Embodiment 4 of the present invention.
  • FIG. 8 is a schematic structural view of an unmanned aerial vehicle according to Embodiment 5 of the present invention.
  • FIG. 9 is a schematic structural diagram of a communication system between a ground station and a drone according to Embodiment 7 of the present invention.
  • FIG. 10 is a flowchart of a communication method between a ground station and a drone according to Embodiment 9 of the present invention.
  • FIG. 11 is a flowchart of a method for communicating a ground station and a drone according to Embodiment 10 of the present invention.
  • FIG. 12 is a flowchart of a communication method between a ground station and a drone according to Embodiment 11 of the present invention.
  • FIG. 13 is a flowchart of a communication method between a ground station and a drone according to Embodiment 12 of the present invention.
  • FIG. 16 is a flowchart of a communication method between a drone and a ground station according to Embodiment 15 of the present invention.
  • FIG. 17 is a flowchart of a communication method between a ground station and a drone according to Embodiment 16 of the present invention.
  • Figure 18 is a flow chart showing a method of communicating between a ground station and a drone according to a seventeenth embodiment of the present invention.
  • an embodiment of the present invention provides a ground station 11 , which is a device for an operator to control a drone, which may be a handheld mobile device or a fixed installation device, and the ground station 11 includes a first communication module. 12 and the transaction scheduling module 13, the first communication module 12 is connected to the transaction scheduling module 13, the first communication module 12 is configured to send a transaction frame or receive an externally transmitted data frame, and the transaction scheduling module 13 is configured to store the ground station 11
  • each transaction frame corresponds to a unique drone, that is, each transaction frame is sent only to one drone, and the drone constitutes a target unmanned machine.
  • the target drone is a drone that needs to be controlled in the application with the user.
  • Each application corresponds to at least one function that can operate on the target drone, ie the application is used to operate the target drone.
  • the transaction scheduling module 13 is further configured to control the first communication module 12 to send a transaction frame to the target drone.
  • the transaction scheduling module 13 monopolizes the first communication module 12, and the transaction frames generated by the application in the ground station 11 are stored in In the transaction scheduling module 13, the transaction scheduling module 13 determines which transaction frame is sent to the corresponding drone through the first communication module 12, and the transaction frame is used to enable the target drone to execute the corresponding operation instruction; or, the transaction scheduling The module 13 is further configured to acquire a data frame received by the first communication module 12, and provide the data frame to an application in the ground station 11, the data frame is sent by the drone to the ground station, that is, the transaction scheduling module 13 monopolizes The first communication module 12, the first communication module 12 is only controlled by the transaction scheduling module 13, the drone transmits the data frame to the first communication module 12, and the transaction scheduling module 13 acquires the data frame from the first communication module 12, and then The data frame is provided to the corresponding application, and the data frame may include various types of information of the drone, Data, such as the drone identification number, the current height of the drone, the current position of the drone, and the state of motion. It is worth mentioning
  • the application in the ground station 11 is no longer directly controlling the first communication module 12 to send a transaction frame or a received data frame, but the transaction frame or the data to be received by the transaction scheduling module 13 for the application.
  • the frame is managed and co-ordinated.
  • the application in the ground station 11 is to manage and co-ordinate the transaction frame to be sent or the data frame to be received through the transaction scheduling module 13, and the transaction scheduling module 13 controls the first communication module 12 to send a transaction frame or
  • the received data frame is obtained from the first communication module 12, and the data frame is provided to the corresponding application in the ground station 11.
  • the transaction scheduling module 13 may be a module independently set in the ground station 11, or may be integrated in any one of the ground stations 11, but the execution program of the transaction scheduling module 13 is independently operated.
  • the ground station 11 provided by the embodiment of the present invention controls the first communication module 12 to send a transaction frame to the drone through the transaction scheduling module 13 or acquires the data frame received by the first communication module 12 from the drone through the transaction scheduling module 13 and Compared with the prior art, when a plurality of applications need to send a transaction frame or acquire a data frame to a plurality of drones, the transaction scheduling module 13 in the ground station 11 in the embodiment of the present invention stores the transaction frame applied in the ground station 11.
  • the transaction scheduling module 13 occupies the first communication module 12, thereby causing the plurality of applications to use the transaction scheduling module 13 to control the first communication module 12 to transmit a transaction frame or acquire a data frame, that is, the transaction scheduling module 13 can control the first A communication module 12 sends a transaction frame of any application or acquires a data frame of any application, thereby ensuring that the transaction scheduling module 13 sends the transaction frames of the plurality of applications through the first communication module 12 in an orderly manner, or guarantees the transaction scheduling module 13 Obtaining data frames required by multiple applications from the first communication module 12 in an orderly manner, eliminating the steps of the application consuming the first communication module 12 and then exiting, reducing multiple With the complexity of communicating with a plurality of UAVs, thereby improving the efficiency of communication between a plurality of applications and a plurality of UAVs.
  • a socket is often used in communication to solve the problem that the multi-process occupation communication module causes communication congestion, but in the communication between the ground station and the drone, according to The scene in which the man-machine is located is different. It is necessary for the ground station and the drone to communicate at different communication rates in different frequency bands. In this case, if the socket is used to realize the communication between the ground station and the drone.
  • TCP/IP Transmission Control Protocol/Internet Protocol
  • the module 13 only calls the interface of the hardware abstraction layer, and the communication between multiple applications and the drone in the ground station 11 can be realized without re-adaptation in each frequency band conversion or communication rate conversion, thereby reducing the ground.
  • the complexity of communication between multiple applications and drones in station 11 improves communication efficiency between multiple applications and drones in ground station 11.
  • the transaction scheduling module 13 in the above embodiment includes a receiving unit 131, a first storage unit 135, The detecting unit 132, the pairing unit 133, and the feedback unit 134.
  • the receiving unit 131 is configured to receive a pairing request of the application, where the pairing request is sent by the application to the transaction scheduling module 13, requesting the transaction scheduling module 13 to establish a communication link between the first communication module 12 and the target drone. If the application has not controlled the target drone, the application will determine that the ground station 11 has not successfully established a communication link with the target drone, and the application cannot operate the target drone, nor can it generate a transaction frame for operating the drone. .
  • the first storage unit 135 is configured to store configuration information of the drone.
  • the detecting unit 132 is configured to detect whether the configuration information of the target drone is stored in the first storage unit 135, and the target drone is a drone that needs to be controlled in the application with the user.
  • the configuration information that the first storage unit 135 does not store the target drone indicates that the first communication module 12 has not established a communication link with the target drone before, and the first storage unit 135 stores the configuration information of the target drone. Prior to this, the first communication module 12 has established a communication link with the target drone.
  • the pairing unit 133 is configured to control the first communication module 12 to send a two-party pairing request to the target drone when the first storage unit 135 does not store the configuration information of the target drone, and after the pairing is successful, that is, the first communication module 12 Receiving the configuration information of the target drone, storing the configuration information of the target drone in the first storage unit 135, and feeding back the pairing success information to the application that issues the pairing request, and subsequently establishing the target drone and the second
  • the pairing request includes the communication of the ground station 11 Configuration for requesting the target drone from the target drone and the ground station 11
  • a communication module 12 performs pairing.
  • the feedback unit 134 is configured to feed back the pairing success information to the application when the first storage unit 135 stores the configuration information of the target drone, and the application is an application that issues a pairing request.
  • the configuration information of the drone 20 may include information indicating the role of the unmanned aircraft identification number
  • the communication configuration of the ground station 11 may include the ground station identification number and the ground station IP (Internet Protocol) address.
  • the information having the identification function may also include information such as the communication frequency, the communication channel, and the like that the UAV 20 communicates with the first communication module 12 for success.
  • the application After the application receives the pairing success information, it can generate operation controls or operation buttons for the target drone for the user to operate on the target drone.
  • the application can send the transaction frame to the drone through the transaction scheduling module 13, or through the transaction scheduling module.
  • 13 obtaining the data frame received by the first communication module 12 from the drone, that is, realizing communication between the application and the drone it should be noted that the communication between the application and the drone may be one-way communication, It can be two-way communication.
  • the configuration information of the drone that has been stored in the first storage unit 135 when the application is started next time or other applications need to control the target drone, the paired success information can be directly fed back to the application by using the already stored configuration information.
  • the application can generate operational controls or operation buttons for the target drone, etc., for the user to control the operation of the target drone.
  • M applications are controlled by the control communication module to control N UAVs, and M ⁇ N times pairing is required (that is, pairing is complicated)
  • the degree is M ⁇ N), that is, each time the application establishes a communication link with the drone through the control communication module, the pairing is required; in the embodiment, the first storage unit 135 stores the unmanned aerial vehicle.
  • the configuration information that is, the transaction scheduling module 13 has established an available communication link with the drone, and the application does not need to be paired if there is a pairing request.
  • Application A has previously issued a pairing request for No. 1 UAV.
  • the configuration information of UAV No. 1 is stored in the first storage unit 135, and when Application B issues No No. 1
  • the feedback unit 134 directly feeds back the pairing success information to the application B, thereby reducing the pairing of the application B with the UAV No. 1 the process of.
  • this embodiment can reduce the number of pairings, thereby enabling M applications to pass the transaction scheduling module 13 controlling the first communication module 12 to establish a communication link with the N drones, reducing the complexity of the pairing to N, thereby reducing the number of applications by the transaction scheduling module 13 to control the first communication module 12 and the plurality of unmanned
  • the number of pairings between the machines greatly simplifies the multi-application pairing process between the first communication module 12 and the plurality of drones through the transaction scheduling module 13.
  • the transaction scheduling module 13 In order to ensure that the transaction scheduling module 13 can control the orderly transmission of the transaction frame by the first communication module 12, the transaction frame in this embodiment has a priority, and the priority can determine the transmission order of the transaction frame.
  • the transaction scheduling module 13 includes a priority unit 136 for extracting a period every other transaction frame, selecting a transaction frame with the highest priority in the transaction frame, and controlling the first communication module 12 to the target first.
  • the UAV sends the highest-priority transaction frame, where the priority can be represented by a numerical value, and the representation method may be that the larger the value, the higher the priority, or the smaller the value, the higher the priority.
  • the transaction scheduling module 13 stores a transaction frame 1, a transaction frame 2, and a transaction frame 3.
  • the transaction frame 1, the transaction frame 2, and the transaction frame 3 constitute a transmission frame queue, and the transmission frame queue is a thread synchronization frame queue.
  • the priority is represented by a numerical value. The smaller the value, the higher the priority, the priority value of transaction frame 1 is 30, the priority value of transaction frame 2 is 10, and the priority value of transaction frame 3 is 50, then the transaction scheduling module 13
  • the first communication module 12 is controlled to first transmit the transaction frame 2 to the drone, after one clock cycle, then transmit the transaction frame 1, and so on.
  • the transaction frames stored in the transaction scheduling module 13 constitute a transmission frame queue, and the application in the ground station 11 can add a transaction frame to the transmission frame queue according to the user's input or the selected instruction, and the transaction scheduling module 13 itself can randomly send the frame.
  • the queue adds a transaction frame, and the newly added transaction frame is added to the end of the send frame queue.
  • the transaction frame includes a read transaction frame, a write transaction frame, and a real-time transaction frame.
  • the transaction scheduling module 13 may further include a second storage unit 137 and an adding unit 138.
  • the second storage unit 137 is configured to store the transaction frame.
  • a read transaction frame is added to the second storage unit 137.
  • the read transaction frame indicates that the information and data of a certain drone need to be read, such as reading the flying height of the drone No. 1 and reading the coordinates of the UAV No. 2, and the drone receives the read transaction frame.
  • the data frame of the transaction scheduling module 13 is fed back through the first communication module 12, due to the ground station 11
  • the data of the UAV is frequently read to refresh the monitoring interface, so the read transaction frame is a type of transaction frame that is frequently sent, and the adding unit 138 may be specifically used to periodically add a read transaction frame to the second storage unit 137; or
  • a read transaction frame is added to the second storage unit 137, where p is a positive integer greater than zero, and the transaction scheduling module 13 controls the first communication module 12 to frequently Send a read transaction frame to the drone.
  • the transaction scheduling module 13 may further include a third storage unit 139 and a data response unit 1310.
  • the drone receives the read transaction frame sent by the first communication module 12 by the transaction scheduling module 13 of the ground station 11, the unmanned opportunity to the ground station
  • the first communication module 12 of 11 transmits a data frame
  • the third storage unit 139 is configured to store a data frame acquired from the drone through the first communication module 12
  • the data response unit 1310 is configured to request an unmanned request from the transaction scheduling module 13
  • the data frame of the machine is used, the data frame acquired by the last time stored in the third storage unit 139 from the drone is provided to the application, thereby ensuring that the application can obtain a more timely and accurate data frame of the drone.
  • the transaction scheduling module 13 can obtain the data frames of the drone more frequently through the first communication module 12, the transaction scheduling module 13 can read the complexity of reading data frames between the M applications and the N UAVs.
  • the technical M ⁇ N is reduced to N; it should also be noted that, in order to prevent the drone from disconnecting the communication link with the first communication module 12, in order to prevent the drone from being connected to the first communication module 12
  • the communication link is disconnected, but the data frame sent to the transaction scheduling module 13 through the first communication module 12 before the communication link is disconnected remains in the transaction scheduling module 13, so that the operator mistakenly considers the drone and the first communication module 12
  • the communication link is not disconnected, and the data frame in the transaction scheduling module 13 is deleted after the duration of the data frame exceeds the preset effective duration.
  • the write transaction frame is used to control the drone to perform certain operations, for example, setting the UAV No. 2 to take off, setting the drone No. 1 to hover, etc., after the drone successfully receives and parses the write transaction frame, A feedback frame for indicating successful receipt and parsing of the write transaction frame is returned to the first communication module 12 of the ground station 11, and the feedback frame is transmitted by the first communication module 12 to the transaction scheduling module 13.
  • the real-time transaction frame is used to control the UAV to perform certain operations in real time.
  • the real-time transaction frame is often a transaction frame generated by a physical operation device such as a physical button or a physical joystick, to ensure that the real-time drone receives and parses the real-time transaction frame indication. Afterwards, there is no need to feed back the feedback frame to the transaction scheduling module 13 through the first communication module 12; the real-time transaction frame focuses on real-time, so the real-time transaction frame has higher priority than the read transaction.
  • the priority of the frame and the priority of the write transaction frame, the priority of the write transaction frame is higher than the priority of the read transaction frame.
  • the transaction scheduling module 13 includes a priority updating unit 1311, and the priority updating unit 1311 is configured to: after the transaction frame with the highest priority in the transaction scheduling module 13 is sent, raise the priority of other transaction frames in the transaction scheduling module 13, thereby adjusting the priority.
  • the transaction frame with the highest priority is selected from the transaction frame.
  • the value of the priority for example, as shown in FIG. 4, FIG. 5, and FIG. 6, FIG. 4 is a transmission frame queue before a certain transmission transaction frame, and the second storage unit 137 in the transaction scheduling module 13 stores the transaction frame 1, the transaction.
  • Frame 2 and transaction frame 3, transaction frame 1, transaction frame 2, and transaction frame 3 form a transmission frame queue, and the priority is represented by a numerical value.
  • the priority value of transaction frame 2 is 50, and the priority value of transaction frame 3 is 20.
  • Figure 5 is one of the transmission frame queues after a certain transmission of a transaction frame, transaction frame 1 has been sent out, and the priority of transaction frame 2 is The value is 40, and the priority value of transaction frame 3 is 10. As shown in FIG.
  • FIG. 6 is the second transmission frame queue after a certain transmission of a transaction frame. If the transaction frame 4 is stored at this time, the transaction frame content is dropped by the No. 3 machine, and the priority value is 15, the transaction frame 3 will be sent preferentially, avoiding the priority when the priority value is not changed. When a high transaction frame is added, the lower priority is always undeliverable, thus ensuring the order and rationality of the transaction frame transmission.
  • the transaction scheduling module 13 includes a transmission control unit 1312 for transmitting a transaction frame to the target drone when controlling the first communication module 12 After receiving the reply frame corresponding to the transaction frame, or until the reply frame corresponding to the transaction frame has not been received after the preset duration is exceeded, the first communication module 12 is controlled to send the next transaction frame to the corresponding target. Drone.
  • the reply frame is used to indicate that the drone has successfully received the transaction frame sent by the ground station.
  • the application A controls the first communication module 12 to send the transaction frame 1 to the UAV 1 through the transaction scheduling module 13, and after receiving the reply frame sent by the UAV No. 1, the transaction scheduling module 13 sends the control unit. 1312 controls the first communication module 12 to send the next transaction frame to the target drone corresponding to the next transaction frame; or the preset duration is 150 ms, and the application A controls the first communication module 12 to the No. 1 through the transaction scheduling module 13
  • the transmission control unit 1312 in the transaction scheduling module 13 controls the first communication module 12 to send the next transaction frame to the next.
  • an embodiment of the present invention provides a drone 20 .
  • the drone 20 includes a second communication module 21 and a flight controller 22 , and the second communication module 21 is configured to receive the ground station 11 and utilize the transaction scheduling module 13 .
  • the flight controller 22 is configured to acquire a transaction frame received by the second communication module 21, and
  • the drone 20 is controlled to perform the operation indicated by the transaction frame;
  • the flight controller 22 is further configured to control the second communication module 21 to return a data frame to the first communication module 12 of the ground station 11 so that the ground station 11 controls the transaction scheduling module 13
  • the first communication module 12 receives the data frame and provides the data frame to an application in the ground station 11.
  • the UAV 20 provided by the embodiment of the present invention includes a second communication module 21 and a flight controller 22, which are compared with a drone that communicates with a plurality of communication modules occupying a ground station in the prior art.
  • the drone 20 in the embodiment of the present invention controls the second communication module 21 to receive the ground station 11 utilization transaction by the flight controller 22.
  • the scheduling module 13 controls the transaction frame sent by the first communication module 12, and the flight controller 22 controls the operation of the transaction frame indication by the drone 20 according to the transaction frame received by the second communication module 21, and can also control the second communication module 21 to
  • the first communication module 12 of the ground station 11 returns a data frame so that the ground station 11 controls the first communication module 12 to receive the data frame and provide the data frame to the application in the ground station 11 by the transaction scheduling module 13, thereby securing the ground station
  • the application in the 11 can obtain the required data frames from the first communication module 12 through the transaction scheduling module 13 in an orderly manner, eliminating the steps of the application consuming the first communication module 12 and then exiting, reducing multiple applications and multiple unmanned The complexity of the communication, which improves the communication efficiency between multiple applications and multiple drones.
  • the second communication module 21 is further configured to receive the ground station 11 to control the two-party pairing request sent by the first communication module 12 by using the pairing unit 133 in the transaction scheduling module 13, where the pairing request includes the communication configuration of the ground station 11 for
  • the requesting drone 20 is paired with the first communication module 12 in the ground station 11;
  • the flight controller 22 is further configured to acquire the two-pair pairing request received by the second communication module 21, and store the communication configuration of the ground station 11 in the two-party pairing request.
  • controlling the second communication module 21 to return the configuration information of the drone 20 to the first communication module 12 of the ground station, so that the ground station 11 uses the pairing unit 133 in the transaction scheduling module 13 to store the configuration information of the drone in the transaction scheduling.
  • the pairing success information is fed back into the first storage unit 135 of the module 13 and to the application in the ground station 11.
  • the flight controller 22 is further configured to control the second communication module 21 to return a reply frame to the first communication module 12 of the ground station 11 after acquiring the transaction frame received by the second communication module 21, so as to be grounded.
  • the station 11 controls the first communication module 12 to receive the reply frame by using the transaction scheduling module 13 and controls the first communication module 12 to transmit the next transaction frame to the target drone corresponding to the next transaction frame.
  • the reply frame is used to inform the ground station 11 that the transaction frame has been successfully transmitted to the drone 20, so that the ground station 11 can decide when to transmit the next transaction frame.
  • ground station 11 in the fifth embodiment and the sixth embodiment please refer to the first embodiment to the fourth embodiment, and details are not described herein again.
  • an embodiment of the present invention provides a communication system 10 for a ground station and a drone.
  • the communication system 10 of the ground station and the drone includes a ground station 11 and at least one drone 20 (three drones are set in Fig. 9, which are UAV No. 1, UAV No. 2, and 3
  • the ground station 11 is for transmitting a transaction frame to a target drone, which is generated by an application in the ground station 11 for operating the target drone.
  • Each transaction frame has a unique target drone, so in Figure 9, for a transaction frame, the target drone is in UAV No. 1, UAV No. 2 and UAV No. 3.
  • a drone is a unique target drone, so in Figure 9, for a transaction frame, the target drone is in UAV No. 1, UAV No. 2 and UAV No. 3. A drone.
  • the drone 20 is for receiving and acquiring a transaction frame transmitted by the ground station 11 and performing the operation indicated by the transaction frame; the drone 20 is also for returning a data frame to the ground station 11.
  • the ground station 11 is further configured to receive a data frame returned by the target drone and provide the data frame to the application.
  • the ground station 11 and the drone 20 in this embodiment are the ground station 11 and the drone 20 in the first to sixth embodiments. For details, please refer to the above embodiment, and details are not described herein again.
  • the ground station 11 controls the first communication module 12 to send a transaction frame to the drone through the transaction scheduling module 13 or acquires the first communication module through the transaction scheduling module 13. 12, the data frame received from the drone, compared with the prior art, in a plurality of applications need to send a transaction frame or acquire a data frame to a plurality of drones, the transaction scheduling in the ground station 11 in the embodiment of the present invention
  • the module 13 stores the transaction frame applied in the ground station 11, and the transaction scheduling module 13 occupies the first communication module 12, thereby causing the plurality of applications to use the transaction scheduling module 13 to control the first communication module 12 to transmit a transaction frame or acquire a data frame.
  • the transaction scheduling module 13 can control the first communication module 12 to send a transaction frame of any application or acquire a data frame of any application, thereby ensuring that the transaction scheduling module 13 sequentially passes the transaction frames of multiple applications through the first
  • the communication module 12 sends, or ensures that the transaction scheduling module 13 acquires data frames required by multiple applications from the first communication module 12 in an orderly manner, and the application occupation of the first communication module 12 is omitted.
  • the step of exiting later reduces the complexity of communication between multiple applications and multiple drones, thereby improving the communication efficiency between multiple applications and multiple drones.
  • a socket is often used in communication to solve the problem that the multi-process occupation communication module causes communication congestion, but in the communication between the ground station and the drone, according to The scene in which the man-machine is located is different. It is necessary for the ground station and the drone to communicate at different communication rates in different frequency bands. In this case, if the socket is used to implement the ground station and The communication between the UAVs needs to be re-adapted to TCP/IP (Transmission Control Protocol/Internet Protocol) during each frequency band conversion or communication rate conversion, which increases the number of ground stations.
  • TCP/IP Transmission Control Protocol/Internet Protocol
  • the transaction scheduling module 13 only calls the interface of the hardware abstraction layer, in each frequency band conversion or communication rate conversion.
  • communication between multiple applications and the drone in the ground station 11 can be realized, thereby reducing the complexity of communication between the plurality of applications and the drone in the ground station 11, and improving The communication efficiency between multiple applications and drones in the ground station 11.
  • the ground station 11 is further configured to receive the pairing request of the application, detect whether the configuration information of the target drone is stored, and store the target without
  • the drone 20 is further configured to receive the two-party pairing request sent by the ground station, and store the communication configuration of the ground station 11 in the two-party pairing request, and The ground station 11 returns configuration information of the drone 20.
  • the ground station 11 is further configured to receive configuration information returned by the target drone, store the configuration information, and feed back pairing success information to the application in the ground station 11.
  • the ground station 11 and the drone 20 are able to utilize each other's communication configuration and configuration information to establish a communication link between the ground station 11 and the drone 20.
  • the drone 20 is further configured to return a reply frame to the ground station 11 after receiving the transaction frame transmitted by the ground station 11; After the station 11 sends the transaction frame to the target drone corresponding to the transaction frame, the ground station 11 is further configured to receive the reply frame returned by the target drone, and control the first communication module 12 to send the next transaction frame to the corresponding target.
  • the drone that is, controls the first communication module 12 to send the next transaction frame to the target drone corresponding to the next transaction frame.
  • the drone 20 returns a reply frame to the ground station 11 after receiving the transaction frame, so that the ground station 11 can control the timing of transmitting the next transaction frame.
  • an embodiment of the present invention provides a communication method between a ground station and a drone for a ground station, where the ground station includes a data frame for transmitting a transaction frame to the drone or receiving a data frame transmitted by the drone.
  • a communication module, the communication method of the ground station and the drone includes:
  • Step 210 Establish a Realtime Transaction Schedule Pool, where the real-time transaction scheduling pool can be regarded as a data frame for coordinating and managing the transaction frame generated by the application in the ground station and the UAV.
  • the real-time transaction scheduling pool is the intermediate interface between the application, the first communication module, and the drone. Therefore, the real-time transaction scheduling pool can isolate the application in the ground station from the specific communication mode and switch between different communication modes.
  • the specific communication mode can be WiFi, Bluetooth or common 2.4G radio frequency communication, etc., in different wireless transceiver devices.
  • the real-time transaction scheduling pool can switch the access traffic and rate of the application without modifying the application code, thus achieving good compatibility and scalability.
  • the real-time transaction scheduling pool can be installed in the transaction scheduling module in the above embodiment.
  • Step 202 The real-time transaction scheduling pool is used to store the transaction frame generated by the application in the ground station, and the application is used to operate the target drone.
  • Step 203 Control, by using a real-time transaction scheduling pool, the first communication module to send the transaction frame to the target drone.
  • Step 204 Acquire a data frame received by the first communication module from the drone by using a real-time transaction scheduling pool, and provide the data frame to an application in the ground station.
  • the first communication module is controlled to send a transaction frame to the drone through the real-time transaction scheduling pool or the first communication module is received from the drone through the real-time transaction scheduling pool.
  • the data frame arrives, compared with the communication system that occupies the communication module of the drone by multiple applications in the prior art, the communication system and method causing the communication link between the communication module and the drone are blocked, and the application needs to be compared in multiple applications.
  • the real-time transaction scheduling pool in the ground station in the embodiment of the present invention stores a transaction frame generated by each application in the ground station, and the real-time transaction scheduling pool occupies the first communication module.
  • Each application needs to use the real-time transaction scheduling pool to control the first communication module to send a transaction frame or acquire a data frame, that is, the real-time transaction scheduling pool can control the first communication module to send a transaction frame of any application or obtain any application.
  • the data frame ensures that the real-time transaction scheduling pool sends the transaction frames of multiple applications through the first communication module in an orderly manner, or ensures that the real-time transaction scheduling pool acquires the data frames required by multiple applications from the first communication module in an orderly manner.
  • the switching step of the application consuming the first communication module and then exiting is omitted, which reduces the complexity of communication between multiple applications and multiple UAVs, thereby improving the communication efficiency between multiple applications and multiple UAVs.
  • steps 205-208 may be added before step 202, and the specific contents are as follows:
  • Step 205 Receive a pairing request of the application, where the pairing request is used to request to control the real-time transaction scheduling pool to establish a communication link between the first communication module and the target drone.
  • Step 206 Detect whether configuration information of the target drone is stored in the real-time transaction scheduling pool.
  • Step 207 When the configuration information of the target drone is not stored in the real-time transaction scheduling pool, control the first communication module to send a pairing request to the target drone, and receive the target drone in the first communication module. After the configuration information, the configuration information of the target drone is stored in the first storage unit of the ground station and the pairing success information is fed back to the application.
  • Step 208 When the configuration information of the target drone is stored in the real-time transaction scheduling pool, the pairing success information is fed back to the application.
  • Step 203 in the foregoing embodiment may be specifically resized as step 2031 to step 2033.
  • the specific content is as follows:
  • Step 2031 every other transaction frame extraction period, using the real-time transaction scheduling pool to select the highest priority transaction frame in the transaction frame.
  • Step 2032 using the real-time transaction scheduling pool to control the first communication module to send the superior to the target drone The highest priority transaction frame.
  • step 2033 the priority of other transaction frames in the real-time transaction scheduling pool is raised.
  • the transaction frame includes a read transaction frame, a write transaction frame, and a real-time transaction frame; the priority of the real-time transaction frame is higher than the priority of the read transaction frame and the priority of the write transaction frame, and the priority of the write transaction frame is higher than Read the priority of the transaction frame.
  • the communication method between the ground station and the drone may further include steps 209-211 to ensure that the application of the ground station 11 can frequently read the data of the drone to refresh.
  • Monitoring interface the specific content is as follows:
  • Step 209 Add a read transaction frame to the real-time transaction scheduling pool.
  • adding a read transaction frame to the real-time transaction scheduling pool may include the following two methods: mode one, periodically adding a read transaction frame to the real-time transaction scheduling pool; Second, when each p transaction frame is stored in the real-time transaction scheduling pool, a read transaction frame is added to the real-time transaction scheduling pool, and p is a positive integer greater than zero.
  • Step 210 Control the real-time transaction scheduling pool to acquire a data frame from the first communication module, and store the data frame.
  • Step 211 When the application requests the data frame of the drone from the real-time transaction scheduling pool, the real-time transaction scheduling pool is provided to the application by the data frame acquired by the first communication module from the drone.
  • step 212 or step 213 may be added after step 203, and the specific content is as follows:
  • Step 212 When the real-time transaction scheduling pool controls the first communication module to send a transaction frame to the target drone, until the reply frame corresponding to the transaction frame is received, the first communication module is controlled to send the next transaction frame to the corresponding Target drone.
  • Step 213 When the real-time transaction scheduling pool controls the first communication module to send a transaction frame to the drone, and after receiving the reply frame corresponding to the transaction frame after exceeding the preset duration, the first communication module is controlled to be next. The transaction frame is sent to the corresponding target drone.
  • step 212 or step 213 For details of the foregoing step 212 or step 213, refer to the contents of the first embodiment to the fourth embodiment, and details are not described herein again.
  • an embodiment of the present invention provides a communication method between a UAV and a ground station, which is used for a UAV, and the UAV includes receiving a transaction frame sent by a ground station or transmitting a data frame to the ground station.
  • the second communication module specifically, the communication method between the ground station and the drone includes:
  • Step 301 Acquire a transaction frame received by the second communication module, where the transaction frame is generated by an application in a ground station, and is controlled by the ground station to use the real-time transaction scheduling pool to control the first communication module to send.
  • Step 302 performing the operation indicated by the transaction frame.
  • Step 303 Control the second communication module to return a data frame to the first communication module of the ground station, so that the ground station controls the first communication module to receive the data frame and provide the data frame by using a real-time transaction scheduling pool.
  • the application in the ground station is not limited to a real-time transaction scheduling pool.
  • the second communication module in the drone control drone receives the transaction frame sent by the ground station, and performs the operation of the transaction frame indication, and the drone further
  • the data frame can be returned to the ground station, and the transaction frame or the data frame needs to be sent to multiple UAVs in multiple applications compared with the UAV in the prior art that communicates with the communication module occupying the ground station.
  • the UAV control second communication module in the present invention receives the transaction frame sent by the first communication module by the ground station using the transaction scheduling module, and controls the UAV to perform the transaction frame indication according to the transaction frame received by the second communication module.
  • the operation further is capable of controlling the second communication module to return a data frame to the first communication module of the ground station, so that the ground station controls the first communication module to receive the data frame and provide the data frame to the application in the ground station by using the transaction scheduling module. Therefore, the application in the ground station can obtain the required data frame from the first communication module in an orderly manner through the transaction scheduling module, thereby eliminating the need for By taking up the first communication module and then exiting, the complexity of communication between multiple applications and multiple drones is reduced, thereby improving communication efficiency between multiple applications and multiple drones.
  • step 305 and step 306 may be added before step 301, and step 307 is added after step 302, and the specific content is as follows:
  • Step 305 Acquire a two-party pairing request received by the second communication module, where the two-party pairing request is controlled by the ground station to use the real-time transaction scheduling pool to control the first communication module to send.
  • Step 306 Store a communication configuration of the ground station in the two-party pairing request, and control the second communication module to return configuration information of the drone to the first communication module of the ground station, so that the ground station utilizes the real-time transaction scheduling pool.
  • the configuration information of the drone is stored and the pairing success information is fed back to the application in the ground station.
  • Step 307 Control the second communication module to return a reply frame to the first communication module of the ground station, so that the ground station controls the first communication module to receive the reply frame and control the first communication by using a real-time transaction scheduling pool.
  • the module sends the next transaction frame to the corresponding target drone.
  • an embodiment of the present invention provides a communication method between a ground station and a drone, including:
  • step 401 the ground station establishes a real-time transaction scheduling pool.
  • Step 402 The ground station uses the real-time transaction scheduling pool to control the first communication module to send a transaction frame to the target drone, and the transaction frame is generated by an application in the ground station for operating the target drone.
  • Step 403 The drone receives and acquires a transaction frame sent by the ground station, and performs an operation indicated by the transaction frame.
  • step 404 the drone returns a data frame to the ground station.
  • Step 405 The ground station acquires, by using the real-time transaction scheduling pool, that the first communication module receives A data frame that provides the data frame to an application in the ground station.
  • step 409-step 414 may be added before step 402, and step 415 and step 416 may be added after step 404, the specific content is as follows:
  • Step 409 The ground station receives a pairing request of the application, and the pairing request is used to request to control the real-time transaction scheduling pool to establish a communication link between the first communication module and the target drone.
  • Step 410 The ground station detects whether configuration information of the target drone is stored in the real-time transaction scheduling pool.
  • Step 411 When the configuration information of the target drone is not stored in the real-time transaction scheduling pool, the ground station controls the first communication module to send the two-party pairing request to the target drone by using the real-time transaction scheduling pool.
  • Step 412 The drone receives the two-party pairing request sent by the ground station, and stores the communication configuration of the ground station in the two-party pairing request.
  • Step 413 The drone returns configuration information of the drone to the ground station.
  • Step 414 The ground station controls the first communication module to receive the configuration information returned by the target drone by using the real-time transaction scheduling pool, and uses the real-time transaction scheduling pool to store the configuration information of the target drone and feed back pairing success information to the application.
  • step 415 the drone returns a reply frame to the ground station.
  • Step 416 The ground station uses the real-time transaction scheduling pool to control the first communication module to receive the reply frame returned by the drone, and uses the real-time transaction scheduling pool to control the first communication module to send the next transaction frame to the corresponding target drone.
  • the various embodiments in the present specification are described in a progressive manner, and the same similar parts between the various embodiments may be referred to each other, and each embodiment focuses on the differences from other embodiments.
  • the description of the drone can also be found in the relevant description of the ground station.
  • the communication system of the ground station and the drone refer to the relevant descriptions of the ground station and the drone; in addition, for the ground station and without
  • the embodiment of the human-machine communication method is relatively simple to describe because it is basically similar to the ground station and the embodiment of the drone, and the relevant part of the description of the embodiment of the ground station and the drone is can.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the functions may be stored in a computer readable storage medium if implemented in the form of a software functional unit and sold or used as a standalone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product stored in a storage medium, including a plurality of instructions for causing a computer device (which may be a personal computer, a server, or a network) The apparatus or the like) performs all or part of the steps of the method of the various embodiments of the present invention.
  • the foregoing storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

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Abstract

本发明公开一种地面站、无人机及地面站与无人机的通信系统、方法，涉及无人机通信技术领域，为解决多个应用不能与多台无人机进行正常通信的问题。地面站包括第一通信模块、事务调度模块，事务调度模块存储应用的事务帧，还控制第一通信模块向目标无人机发送事务帧，或者获取第一通信模块接收到的数据帧，将数据帧提供给地面站中应用。无人机包括第二通信模块和飞行控制器，第二通信模块接收地面站发送的事务帧；飞行控制器获取第二通信模块接收的事务帧，并控制无人机执行事务帧指示的操作；飞行控制器还控制第二通信模块向地面站返回数据帧。本发明实施例提供的地面站、无人机以及地面站与无人机的通信方法用于地面站与多台无人机进行通信。

Description

地面站、无人机及地面站与无人机的通信系统、方法 技术领域
本发明涉及无人机通信技术领域，尤其涉及一种地面站、无人机以及地面站与无人机的通信系统、方法。
背景技术
在目前无人机领域中，可以利用地面站来向无人机发出控制指令，从而控制无人机。由于地面站中单一的应用已经不能满足现阶段对无人机的多方面控制，故无人机领域具有多台无人机进行编队工作，以及地面站中具有多个应用，多个应用能够控制无人机实现多种功能的需求。由于无人机与地面站之间的通信要求需要具有远距离通信、高实时性通信以及低丢包率通信等特点，因此，实现无人机和地面站之间的通信需要专用的通信硬件设备和通信协议。
当多个独立的应用需要与多台无人机进行通讯时，需要多个应用依次占用地面站中的通信模块与无人机进行通信，即在一个应用占用通信模块完成与无人机的通信且退出通信模块的占用后，另一应用才能占用通信模块与无人机进行通信，降低了多个应用与多台无人机之间的通信效率。
发明内容
本发明的目的在于提供一种地面站、无人机以及地面站与无人机的通信系统、方法，用于降低多个应用与多台无人机进行通信的复杂度，提高多个应用与多台无人机之间的通信效率。
为了实现上述目的，本发明实施例提供如下技术方案：
第一方面，本发明实施例提供一种地面站，所述地面站包括第一通信模块以及与所述第一通信模块连接的事务调度模块，所述事务调度模块用于存储所述地面站中的应用生成的事务帧，还用于控制所述第一通信模块向目标无人机发送所述事务帧，获取所述第一通信模块接收到的数据帧，并将所述数据帧提供给所述地面站中的应用，所述应用用于操作所述目标无人机。
第二方面，本发明实施例提供一种无人机，所述无人机包括第二通信模块和飞行控制器，所述第二通信模块用于接收地面站利用事务调度模块控制第一通信模块所发送的事务帧，所述事务帧由地面站中的应用生成，用于操作无人机；所述飞行控制器用于获取所述第二通信模块接收的事务帧，并控制无人机执行所述事务帧所指示的操作；所述飞行控制器还用于控制所述第二通信模块向地面站的第一通信模块返回数据帧，以便所述地面站利用事务调度模块控制所述第一通信模块接收该数据帧以及将该数据帧提供给所述地面站中的应用。
第三方面，本发明实施例提供了一种地面站与无人机的通信系统，包括地面站和至少一台无人机，所述地面站用于发送事务帧至目标无人机，所述事务帧由地面站中的应用生成，用于操作所述目标无人机；
所述无人机用于接收并获取所述地面站发送的事务帧，并执行所述事务帧所指示的操作；所述无人机还用于向所述地面站返回数据帧；
所述地面站还用于接收目标无人机返回的数据帧，并将所述数据帧提供给所述应用。
第四方面，本发明实施例提供一种地面站与无人机的通信方法，所述地面站包括用于向所述无人机发送事务帧或接收所述无人机发送的数据帧的第一通信模块；所述地面站与无人机的通信方法包括：
建立实时事务调度池；
利用所述实时事务调度池存储所述地面站中的应用生成的事务帧，所述应用用于操作所述目标无人机；
利用所述实时事务调度池控制所述第一通信模块向目标无人机发送所述事务帧；
利用所述实时事务调度池获取所述第一通信模块接收到的数据帧，将所述数据帧提供给所述地面站中的应用。
第五方面，本发明实施例提供了一种无人机与地面站的通信方法，所述无人机包括用于接收地面站发送的事务帧或向所述地面站发送数据帧的第二 通信模块，所述地面站与无人机的通信方法包括：
获取所述第二通信模块接收的事务帧，所述事务帧由地面站中的应用生成，并由地面站利用实时事务调度池控制第一通信模块发送；
执行所述事务帧所指示的操作；
控制所述第二通信模块向所述地面站的第一通信模块返回数据帧，以便地面站利用实时事务调度池控制所述第一通信模块接收该数据帧以及将该数据帧提供给所述地面站中的应用。
第六方面，一种地面站与无人机的通信方法，所述地面站包括用于向所述无人机发送事务帧或接收所述无人机发送的数据帧的第一通信模块；所述地面站与无人机的通信方法包括：
所述地面站建立实时事务调度池；
所述地面站利用所述实时事务调度池控制所述第一通信模块发送事务帧至目标无人机，该事务帧由地面站中的应用生成，所述应用用于操作所述目标无人机；
所述无人机接收并获取所述地面站发送的事务帧，执行该事务帧所指示的操作；
所述无人机向所述地面站返回数据帧；
所述地面站利用所述实时事务调度池获取所述第一通信模块接收到的数据帧，将所述数据帧提供给所述地面站中的应用。
本发明实施例提供的地面站、无人机及地面站与无人机的通信系统和方法中，地面站通过事务调度模块或实时事务调度池控制第一通信模块向无人机发送事务帧或者通过事务调度模块获取第一通信模块从无人机接收到的数据帧，与现有技术中相比，在多个应用需要向多台无人机发送事务帧或获取数据帧时，本发明实施例中的地面站中的事务调度模块或实时事务调度池存储地面站中应用的事务帧，事务调度模块或实时事务调度池占用第一通信模块，从而使多个应用利用事务调度模块或实时事务调度池来控制第一通信模块来发送事务帧或获取数据帧，也就是说，由事务调度模块或实时事务调度 池可以控制第一通信模块发送任一应用的事务帧或获取任一应用的数据帧，从而保证事务调度模块或实时事务调度池将多个应用的事务帧有序的通过第一通信模块发送，或保证事务调度模块或实时事务调度池从第一通信模块有序的获取多个应用需要的数据帧，省去了应用占用第一通信模块后再退出的步骤，降低了多个应用与多台无人机进行通信的复杂度，从而提高多个应用与多台无人机之间的通信效率。
附图说明
此处所说明的附图用来提供对本发明的进一步理解，构成本发明的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1为本发明实施例一中地面站的结构示意图；
图2为本发明实施例二中地面站的结构示意图；
图3为本发明实施例三中地面站的结构示意图；
图4为本发明实施例三中地面站某一次发送事务帧之前的发送帧队列的示意图；
图5为本发明实施例三中地面站某一次发送事务帧之后的发送帧队列的示意图之一；
图6为本发明实施例三中地面站某一次发送事务帧之后的发送帧队列的示意图之二；
图7为本发明实施例四中地面站的结构示意图；
图8为本发明实施例五中无人机的结构示意图；
图9为本发明实施例七中地面站与无人机的通信系统的结构示意图；
图10为本发明实施例九中地面站与无人机的通信方法的流程图；
图11为本发明实施例十中地面站与无人机的通信方法的流程图；
图12为本发明实施例十一中地面站与无人机的通信方法的流程图；
图13为本发明实施例十二中地面站与无人机的通信方法的流程图；
图14为本发明实施例十三中地面站与无人机的通信方法的流程图；
图15为本发明实施例十四中无人机与地面站的通信方法的流程图；
图16为本发明实施例十五中无人机与地面站的通信方法的流程图；
图17为本发明实施例十六中地面站与无人机的通信方法的流程图；
图18为本发明实施例十七中地面站与无人机的通信方法的流程图。
具体实施方式
为了进一步说明本发明实施例提供的地面站、无人机以及地面站与无人机的通信系统、方法，下面结合说明书附图进行详细描述。
实施例一
请参阅图1，本发明实施例提供一种地面站11，地面站11是操作人员操控无人机的设备，可以为手持移动设备，也可以为固定安装设备，地面站11包括第一通信模块12和事务调度模块13，第一通信模块12与事务调度模块13连接，第一通信模块12用于向外发送事务帧或接收外部发送来的数据帧，事务调度模块13用于存储地面站11中的应用生成的事务帧，需要说明的是，每一个事务帧都对应了唯一的无人机，即每一个事务帧都是只发送到一台无人机，该无人机构成目标无人机。也就是说，目标无人机为与用户在应用中输入需进行控制的无人机。地面站11中存在多个应用，应用指能够执行某种功能的软件程序。每个应用均对应至少一种功能，能够对目标无人机进行操作，即应用用于操作目标无人机。事务调度模块13还用于控制第一通信模块12向目标无人机发送事务帧，需要说明的是，事务调度模块13独占第一通信模块12，地面站11中应用生成的事务帧均存储于事务调度模块13中，由事务调度模块13决定将哪一个事务帧通过第一通信模块12发送给对应的无人机，事务帧用于使目标无人机执行对应的操作指令；或者，事务调度模块13还用于获取第一通信模块12接收到的数据帧，将数据帧提供给地面站11中的应用，该数据帧由无人机向地面站发送，也就是说，事务调度模块13独占第一通信模块12，第一通信模块12只由事务调度模块13控制，无人机将数据帧发送给第一通信模块12，事务调度模块13从第一通信模块12中获取数据帧，再将数据帧提供给对应的应用，数据帧可以包括无人机的各类信息、 数据，比如无人机标识号、无人机当前高度、无人机当前位置、运动状态。值得一提的是，帧是无人机与地面站11之间进行通信的最小数据单位。
从上述内容可以得知，地面站11中的应用不再是直接控制第一通信模块12发送事务帧或接收数据帧，而是由事务调度模块13对应用需发送的事务帧或需接收的数据帧进行管理和统筹，地面站11中的应用是通过事务调度模块13对需发送的事务帧或需接收的数据帧进行管理和统筹，事务调度模块13来控制第一通信模块12发送事务帧或者从第一通信模块12获取接收的数据帧，再将数据帧提供给地面站11中相应的应用。需要说明的是，事务调度模块13可以是地面站11中独立设置的一个模块，也可以集成在地面站11中任意一个模块中，但事务调度模块13的执行程序是独立运行的。
本发明实施例提供的地面站11通过事务调度模块13控制第一通信模块12向无人机发送事务帧或者通过事务调度模块13获取第一通信模块12从无人机接收到的数据帧，与现有技术相比，在多个应用需要向多台无人机发送事务帧或获取数据帧时，本发明实施例中的地面站11中的事务调度模块13存储地面站11中应用的事务帧，事务调度模块13占用第一通信模块12，从而使多个应用利用事务调度模块13来控制第一通信模块12来发送事务帧或获取数据帧，也就是说，由事务调度模块13可以控制第一通信模块12发送任一应用的事务帧或获取任一应用的数据帧，从而保证事务调度模块13将多个应用的事务帧有序的通过第一通信模块12发送，或保证事务调度模块13从第一通信模块12有序的获取多个应用需要的数据帧，省去了应用占用第一通信模块12后再退出的步骤，降低了多个应用与多台无人机进行通信的复杂度，从而提高多个应用与多台无人机之间的通信效率。
需要说明的是，现有技术中在通信中也常常使用套接字(Socket)来解决多进程占用通信模块引发通信堵塞的问题，但是，在地面站与无人机的通信中，会根据无人机所处的场景不同，需要地面站与无人机在不同的频段利用不同的通信速率来进行通信，在这样的情况下，若使用套接字实现地面站与无人机之间的通信，则在每一次频段变换或通信速率变换时，都需要重新适 配TCP/IP(Transmission Control Protocol/Internet Protocol，传输控制协议/网络协议，增加了地面站中多个应用与无人机之间的通信的复杂度；而本申请的地面站11中，事务调度模块13仅调用硬件抽象层的接口，在每一次频段变换或通信速率变换时，不需要重新适配，就可以实现地面站11中多个应用与无人机之间的通信，从而降低了地面站11中多个应用与无人机之间的通信的复杂度，提高了地面站11中多个应用与无人机之间的通信效率。
实施例二
请参阅图2，由于地面站11中的应用均需要通过事务调度模块13与多台无人机建立通信链路，上述实施例中的事务调度模块13包括接收单元131、第一存储单元135、检测单元132、配对单元133和反馈单元134。接收单元131用于接收应用的配对请求，该配对请求是应用发送给事务调度模块13，要求事务调度模块13建立第一通信模块12与目标无人机之间的通信链路的请求。如果应用未控制过目标无人机，则应用将判定地面站11未与目标无人机成功建立过通信链路，此时应用无法操作目标无人机，也无法生成操作无人机的事务帧。第一存储单元135用于存储无人机的配置信息。检测单元132用于检测在第一存储单元135中是否存储有目标无人机的配置信息，目标无人机为与用户在应用中输入需进行控制的无人机。第一存储单元135未存储有目标无人机的配置信息表明在此之前第一通信模块12没有与目标无人机建立过通信链接，第一存储单元135存储有目标无人机的配置信息表明在此之前第一通信模块12曾与目标无人机建立过通信链接。配对单元133用于当第一存储单元135未存储有目标无人机的配置信息时，控制第一通信模块12向目标无人机发送双方配对请求，在配对成功后，即第一通信模块12接收到目标无人机的配置信息，将目标无人机的配置信息存储在第一存储单元135中，及向发出配对请求的应用反馈配对成功信息，在后续再次建立该目标无人机与第一通信模块12之间的通信链路时，可以直接利用已经存储在第一存储单元135中的该目标无人机的配置信息，值得一提的是，双方配对请求中包含地面站11的通信配置，用于向目标无人机请求目标无人机与地面站11的第 一通信模块12进行配对。反馈单元134用于当第一存储单元135存储有目标无人机的配置信息时，向应用反馈配对成功信息，该应用为发出配对请求的应用。需要说明的是，无人机20的配置信息可以包括无人机标识号等具有标识作用的信息，地面站11的通信配置可以包括地面站标识号、地面站IP(Internet Protocol，网络协议)地址等具有标识作用的信息，还可以包括通信频率、通信通道等无人机20与第一通信模块12通信的配对成功需要的信息等。应用收到配对成功信息后，即可生成针对目标无人机的操作控件或者操作按钮等，以供用户对目标无人机进行操作。
在本实施例中，在应用通过事务调度模块13建立第一通信模块12与无人机的通信链路之后，应用才能够通过事务调度模块13向无人机发送事务帧，或者通过事务调度模块13获取第一通信模块12从无人机接收到的数据帧，即实现应用与无人机之间的通信，需要说明的是，应用与无人机之间的通信可以是单向通信，也可以是双向通信。对于已经存储在第一存储单元135中的无人机的配置信息来说，当应用下一次启动或者其它应用需要控制目标无人机时，可以利用已经存储的配置信息直接向应用反馈配对成功信息，使应用可生成针对目标无人机的操作控件或者操作按钮等，以供用户对目标无人机进行操作控制。在现有技术中，若通信系统中具有M个应用与N台无人机，则实现M个应用通过控制通信模块控制N台无人机，需要进行M×N次配对(也就是说配对复杂度为M×N)，即每一次应用通过控制通信模块与无人机建立通信链路时，均需要进行配对；而在本实施例中，由于第一存储单元135中存储有无人机的配置信息，即事务调度模块13已经与该无人机建立可用的通信链路，应用如有配对请求则无需再进行配对。比如，应用A在此前发出过对1号无人机的配对请求，在配对成功的情况下，1号无人机的配置信息存储在第一存储单元135中，当应用B发出对1号无人机的配对请求时，由于第一存储单元135存储有1号无人机的配置信息，因此，反馈单元134直接向应用B反馈配对成功信息，从而减少了应用B与1号无人机配对的过程。因此，本实施例能够减少配对的次数，从而使得M个应用通过事务调度模块 13控制第一通信模块12与N台无人机建立通信链路时，将配对的复杂度降为N，从而减少了多个应用通过事务调度模块13控制第一通信模块12与多台无人机之间的配对次数，极大地简化了多个应用通过事务调度模块13控制第一通信模块12与多台无人机之间的配对过程。
实施例三
为了保证事务调度模块13能够控制第一通信模块12有序的发送事务帧，本实施例中的事务帧具有优先级，优先级可决定事务帧的发送顺序。请参阅图3，事务调度模块13包括优先级单元136，优先级单元136用于每隔一个事务帧提取周期，在事务帧中选取优先级最高的事务帧，控制第一通信模块12先向目标无人机发送优先级最高的事务帧，其中，优先级具体可以用数值表示，其表示方法具体可以为数值越大表明优先级越高，或者，数值越小表明优先级越高。比如，事务调度模块13存储有事务帧1、事务帧2和事务帧3，事务帧1、事务帧2和事务帧3组成了一个发送帧队列，该发送帧队列是一个线程同步的帧队列，优先级用数值表示，数值越小表明优先级越高，事务帧1的优先级数值为30，事务帧2的优先级数值为10，事务帧3的优先级数值为50，则事务调度模块13控制第一通信模块12向无人机先发送事务帧2，经过一个时钟周期后，再发送事务帧1，以此类推。
事务调度模块13中存储的事务帧组成了一个发送帧队列，地面站11中的应用能够根据用户的输入或者选择的指令向发送帧队列添加事务帧，事务调度模块13自身可以随机地向发送帧队列添加事务帧，新添加的事务帧添加至发送帧队列的最后。
具体的，事务帧包括读事务帧、写事务帧和实时事务帧，事务调度模块13还可以包括第二存储单元137和添加单元138，第二存储单元137用于存储事务帧；添加单元138用于向第二存储单元137中添加读事务帧。
其中，读事务帧表明需要读取某台无人机的信息和数据，比如读取1号无人机的飞行高度，读取2号无人机的坐标等，无人机接收到读事务帧后，会通过第一通信模块12反馈给事务调度模块13数据帧，由于地面站11的应 用需要频繁的读取无人机的数据来刷新监控界面，所以读事务帧是频繁发送的一类事务帧，添加单元138可以具体用于定时向第二存储单元137中添加读事务帧；或者，当第二存储单元137中每存储p个事务帧时，向第二存储单元137中添加一个读事务帧，p为大于零的正整数，实现事务调度模块13控制第一通信模块12频繁地向无人机发送读事务帧。事务调度模块13还可以包括第三存储单元139和数据回应单元1310，无人机接收到地面站11的事务调度模块13控制第一通信模块12发出的读事务帧时，无人机会向地面站11的第一通信模块12发送数据帧；第三存储单元139用于存储通过第一通信模块12从无人机获取的数据帧；数据回应单元1310用于当应用向事务调度模块13请求无人机的数据帧时，将第三存储单元139中存储的最近一次从无人机获取的数据帧提供给应用，从而保证应用能够得到更及时、更准确的无人机的数据帧。由于事务调度模块13能够通过第一通信模块12较频繁获得无人机的数据帧，因此，事务调度模块13能够将M个应用与N台无人机之间读取数据帧的复杂度从现有技术的M×N降低至N；还需要说明的是，由于可能出现某台无人机与第一通信模块12断开通信链路的情况，为了防止无人机已经与第一通信模块12断开通信链路，但断开通信链路前通过第一通信模块12发送给事务调度模块13的数据帧还保留在事务调度模块13，使得操作人员误认为无人机与第一通信模块12的通信链路并未断开的情况发生，事务调度模块13中的数据帧存在的时长超过预设有效时长后，删除该数据帧。
写事务帧用于控制无人机执行某种操作，比如，设置让2号无人机起飞，设置1号无人机悬停等，在无人机成功接收并解析所述写事务帧后，向地面站11的第一通信模块12返回用于指示写事务帧成功接收并解析的反馈帧，由第一通信模块12将所述反馈帧传输给事务调度模块13。
实时事务帧用于控制无人机实时执行某种操作，实时事务帧往往是由物理按键、物理摇杆等物理操作装置生成的事务帧，为保证实时性无人机接收并解析实时事务帧指示后，不需要通过第一通信模块12反馈反馈帧给事务调度模块13；实时事务帧侧重于实时性，因此实时事务帧的优先级高于读事务 帧的优先级和写事务帧的优先级，写事务帧的优先级高于读事务帧的优先级。
需要说明的是，为了避免一直发送优先级较高的事务帧，而使得先加入发送帧队列的优先级较低的事务帧一直处于等待状态而无法发出的情况，请参阅图3，事务调度模块13包括优先级更新单元1311，优先级更新单元1311用于在事务调度模块13中优先级最高的事务帧被发送后，提升事务调度模块13中其他事务帧的优先级，从而在调整过优先级的事务帧中选取优先级最高的事务帧先发送出去。当优先级用数值表示，且数值越大优先级越高时，提升优先级的方式可以是增大优先级的数值；当数值越小优先级越高时，提升优先级的方式可以是减小优先级的数值，比如，如图4、图5、图6所示，图4为某一次发送事务帧之前的发送帧队列，事务调度模块13中第二存储单元137存储有事务帧1、事务帧2和事务帧3，事务帧1、事务帧2和事务帧3组成了一个发送帧队列，优先级用数值表示，数值越小表明优先级越高，事务帧1的优先级数值为10，事务帧2的优先级数值为50，事务帧3的优先级数值为20，图5为某一次发送事务帧之后的发送帧队列之一，事务帧1已经被发送出去，事务帧2的优先级数值为40，事务帧3的优先级数值为10。如图6，图6为某一次发送事务帧之后的发送帧队列之二。如果此时事务帧4被存储，事务帧内容为3号机降落，优先级数值为15，则事务帧3会被优先发送，避免了在不改变优先级数值的情况下，当有优先级较高的事务帧加入时，优先级较低的一直无法发出的情况，从而保证事务帧发送的有序性和合理性。
实施例四
请参阅图7，由于无人机与地面站11之间一般采用无线通信，而无线通信的延迟时间往往是不确定的，可能出现以下冲突：应用A对1号机发出事务帧a，并等待1号无人机的回复；应用B对1号机发出事务帧b，并等待1号无人机的回复；经过若干毫秒延时后，第一通信模块12收到1号机的事务帧b回复，但误以为是事务帧a的回复，将该回复发送给应用A，从而进行错误的处理；再经过若干毫秒后，第一通信模块12收到1号机的事务帧a回复，但误以为是事务帧b的回复，将该回复发送给应用B，从而也进行错误 的处理。为了防止将无人机发出的回复帧误发给不对应的应用，事务调度模块13包括发送控制单元1312，发送控制单元1312用于当控制第一通信模块12向目标无人机发送一个事务帧后，直至接收到与事务帧对应的回复帧时，或者直至超过预设时长后还未收到与事务帧对应的回复帧时，控制第一通信模块12将下一个事务帧发送至对应的目标无人机。所述回复帧用于指示无人机已经成功接收地面站发送的事务帧。比如，应用A通过事务调度模块13控制第一通信模块12向1号无人机发送了事务帧1后，直至收到1号无人机发送的回复帧后，事务调度模块13中发送控制单元1312才控制第一通信模块12发送下一个事务帧至下一个事务帧所对应的目标无人机；或者预设时长为150ms，应用A通过事务调度模块13控制第一通信模块12向1号无人机发送了事务帧1后，若经过150ms后还未收到1号无人机发送的回复帧，事务调度模块13中发送控制单元1312才控制第一通信模块12发送下一个事务帧至下一个事务帧所对应的目标无人机。从而避免了将无人机发出的回复帧误发给不对应的应用，保证了数据帧能够发给正确的应用。
实施例五
请参阅图8，本发明实施例提供了一种无人机20，无人机20包括第二通信模块21和飞行控制器22，第二通信模块21用于接收地面站11利用事务调度模块13控制第一通信模块12所发送的事务帧，所述事务帧由地面站11中的应用生成，用于操作无人机；飞行控制器22用于获取第二通信模块21接收的事务帧，并控制无人机20执行事务帧所指示的操作；飞行控制器22还用于控制第二通信模块21向地面站11的第一通信模块12返回数据帧，以便地面站11利用事务调度模块13控制第一通信模块12接收该数据帧以及将该数据帧提供给地面站11中的应用。
本发明实施例提供的无人机20包括第二通信模块21和飞行控制器22，与现有技术中与多个应用占用地面站的通信模块进行通信的无人机相比，在多个应用需要向多台无人机发送事务帧或获取数据帧时，本发明实施例中的无人机20通过飞行控制器22控制第二通信模块21接收地面站11利用事务 调度模块13控制第一通信模块12发送的事务帧，飞行控制器22根据第二通信模块21接收的事务帧，控制无人机20执行事务帧指示的操作，还能够控制第二通信模块21向地面站11的第一通信模块12返回数据帧，以便地面站11利用事务调度模块13控制第一通信模块12接收该数据帧以及将该数据帧提供给地面站11中的应用，从而保证地面站11中应用能够通过事务调度模块13从第一通信模块12有序的获取需要的数据帧，省去了应用占用第一通信模块12后再退出的步骤，降低了多个应用与多台无人机进行通信的复杂度，从而提高多个应用与多台无人机之间的通信效率。
实施例六
进一步地，第二通信模块21还用于接收地面站11利用事务调度模块13中配对单元133控制第一通信模块12所发送的双方配对请求，双方配对请求包含地面站11的通信配置，用于请求无人机20与地面站11中的第一通信模块12进行配对；飞行控制器22还用于获取第二通信模块21接收的双方配对请求，存储双方配对请求中的地面站11的通信配置，并控制第二通信模块21向地面站的第一通信模块12返回无人机20的配置信息，以便地面站11利用事务调度模块13中配对单元133将无人机的配置信息存储在事务调度模块13的第一存储单元135中以及向地面站11中的应用反馈配对成功信息。
在上述实施例的基础上，飞行控制器22还用于在获取第二通信模块21接收的事务帧之后，控制第二通信模块21向地面站11的第一通信模块12返回回复帧，以便地面站11利用事务调度模块13控制第一通信模块12接收该回复帧以及控制第一通信模块12将下一个事务帧发送至下一个事务帧对应的目标无人机。回复帧用于通知地面站11之前的事务帧已经成功发送至无人机20，便于地面站11决定何时发送下一个事务帧。
需要说明的是，实施例五和实施例六中关于地面站11的相关说明部分请参见实施例一至实施例四，在此不再赘述。
实施例七
请参阅图9，本发明实施例提供了一种地面站与无人机的通信系统10， 地面站与无人机的通信系统10包括地面站11与至少一台无人机20(图9中设定为三台无人机，分别为1号无人机、2号无人机和3号无人机)，地面站11用于发送事务帧至目标无人机，所述事务帧由地面站11中的应用生成，用于操作所述目标无人机。每一个事务帧都有唯一对应的一台目标无人机，所以图9中，对于一个事务帧，目标无人机为1号无人机、2号无人机和3号无人机中的一台无人机。无人机20用于接收并获取地面站11发送的事务帧，并执行事务帧所指示的操作；无人机20还用于向地面站11返回数据帧。地面站11还用于接收目标无人机返回的数据帧，并将所述数据帧提供给所述应用。本实施例中的地面站11和无人机20均为实施例一至六中的地面站11和无人机20，具体说明内容请参照上述实施例，在此不再赘述。
本发明实施例提供的地面站与无人机的通信系统10中，地面站11通过事务调度模块13控制第一通信模块12向无人机发送事务帧或者通过事务调度模块13获取第一通信模块12从无人机接收到的数据帧，与现有技术相比，在多个应用需要向多台无人机发送事务帧或获取数据帧时，本发明实施例中地面站11中的事务调度模块13存储地面站11中应用的事务帧，事务调度模块13占用第一通信模块12，从而使多个应用利用事务调度模块13来控制第一通信模块12来发送事务帧或获取数据帧，也就是说，由事务调度模块13可以控制第一通信模块12发送任一应用的事务帧或获取任一应用的数据帧，从而保证事务调度模块13将多个应用的事务帧有序的通过第一通信模块12发送，或保证事务调度模块13从第一通信模块12有序的获取多个应用需要的数据帧，省去了应用占用第一通信模块12后再退出的步骤，降低了多个应用与多台无人机进行通信的复杂度，从而提高多个应用与多台无人机之间的通信效率。
需要说明的是，现有技术中在通信中也常常使用套接字(Socket)来解决多进程占用通信模块引发通信堵塞的问题，但是，在地面站与无人机的通信中，会根据无人机所处的场景不同，需要地面站与无人机在不同的频段利用不同的通信速率来进行通信，在这样的情况下，若使用套接字实现地面站与 无人机之间的通信，则在每一次频段变换或通信速率变换时，都需要重新适配TCP/IP(Transmission Control Protocol/Internet Protocol，传输控制协议/网络协议，增加了地面站中多个应用与无人机之间的通信的复杂度；而本申请的地面站与无人机的通信系统10中，事务调度模块13仅调用硬件抽象层的接口，在每一次频段变换或通信速率变换时，不需要重新适配，就可以实现地面站11中多个应用与无人机之间的通信，从而降低了地面站11中多个应用与无人机之间的通信的复杂度，提高了地面站11中多个应用与无人机之间的通信效率。
实施例八
在实施例七的基础上，由于在地面站11和无人机20之间相互传输事务帧、数据帧等之前，需要先建立地面站11与无人机20之间的通信链路，因此在地面站11发送事务帧至该事务帧所对应的目标无人机之前，地面站11还用于接收应用的配对请求，检测是否存储有目标无人机的配置信息，并在未存储有目标无人机的配置信息时，向目标无人机发送双方配对请求；无人机20还用于接收地面站发送的双方配对请求，存储所述双方配对请求中的地面站11的通信配置，并向地面站11返回无人机20的配置信息。地面站11还用于接收目标无人机返回的配置信息，存储所述配置信息，并向地面站11中的应用反馈配对成功信息。地面站11与无人机20能够互相利用对方的通信配置和配置信息，从而建立地面站11与无人机20之间的通信链路。
为了保证地面站11能够有序、及时、准确地向无人机20发送事务帧，无人机20还用于在接收地面站11发送的事务帧之后，向地面站11返回回复帧；在地面站11发送事务帧至该事务帧所对应的目标无人机之后，地面站11还用于接收目标无人机返回的回复帧，并控制第一通信模块12发送下一个事务帧至对应的目标无人机，即控制第一通信模块12发送下一个事务帧至下一个事务帧所对应的目标无人机。无人机20在接收到事务帧后向地面站11返回回复帧，使得地面站11能够控制发送下一个事务帧的时刻。
实施例九
请参考图10，本发明实施例提供一种地面站与无人机的通信方法，用于地面站，地面站包括用于向无人机发送事务帧或接收无人机发送的数据帧的第一通信模块，该地面站与无人机的通信方法包括：
步骤210，建立实时事务调度池(Realtime Transaction Schedule Pool)；其中，实时事务调度池可以看作是一种用于统筹、管理地面站中的应用产生的事务帧与无人机发送的数据帧的应用，也可以说，实时事务调度池是应用、第一通信模块、无人机之间的中间接口。因此，实时事务调度池能够使地面站中的应用与具体通信方式隔离，在不同的通信方式中进行切换，具体通信方式可以是WiFi、蓝牙或普通2.4G射频通信等，在不同的无线收发设备，或者不同通信速率的设备之间进行切换时，实时事务调度池可以随之切换应用的访问流量和速率，而不需要修改应用的代码，从而实现良好的兼容性和可扩展性。实时事务调度池可以安装于上述实施例中的事务调度模块中。
步骤202，利用实时事务调度池存储地面站中的应用生成的事务帧，应用用于操作目标无人机。
步骤203，利用实时事务调度池控制第一通信模块向目标无人机发送所述事务帧。
步骤204，利用实时事务调度池获取第一通信模块从无人机接收到的数据帧，将该数据帧提供给地面站中的应用。
上述步骤201-步骤204的具体说明内容请参照实施例一至实施例四的内容，在此不再赘述。
本发明实施例提供的地面站与无人机的通信方法中，通过实时事务调度池控制第一通信模块向无人机发送事务帧或者通过实时事务调度池获取第一通信模块从无人机接收到的数据帧，与现有技术中多个应用占用无人机的通信模块时，造成通信模块与无人机之间的通信链路堵塞的通信系统和方法相比，在多个应用需要向多台无人机发送事务帧或获取数据帧时，本发明实施例中的地面站中的实时事务调度池存储地面站中各个应用所生成的事务帧，实时事务调度池占用第一通信模块，从而使多个应用与第一通信模块分离， 各个应用需利用实时事务调度池来控制第一通信模块来发送事务帧或获取数据帧，也就是说，由实时事务调度池可以控制第一通信模块发送任一应用的事务帧或获取任一应用的数据帧，从而保证实时事务调度池将多个应用的事务帧有序的通过第一通信模块发送，或保证实时事务调度池从第一通信模块有序的获取多个应用需要的数据帧，省去了应用占用第一通信模块后再退出的切换步骤，降低了多个应用与多台无人机进行通信的复杂度，从而提高多个应用与多台无人机之间的通信效率。
实施例十
请参考图11，在实施例五的基础上，在步骤202之前还可以增加步骤205-步骤208，具体内容如下：
步骤205，接收应用的配对请求；其中，配对请求用于请求控制实时事务调度池建立第一通信模块与目标无人机之间的通信链路。
步骤206，检测实时事务调度池中是否存储有目标无人机的配置信息。
步骤207，当实时事务调度池中未存储有目标无人机的配置信息时，控制第一通信模块向所述目标无人机发送双方配对请求，并在第一通信模块接收到目标无人机的配置信息后将目标无人机的配置信息存储在地面站的第一存储单元中及向应用反馈配对成功信息。
步骤208，当实时事务调度池中存储有目标无人机的配置信息时，向应用反馈配对成功信息。
上述步骤205-步骤208的具体说明内容请参照实施例一至实施例四的内容，在此不再赘述。
实施例十一
请参阅图12，事务帧具有优先级，上述实施例中的步骤203可以具体细化为步骤2031-步骤2033，具体内容如下：
步骤2031，每隔一个事务帧提取周期，利用实时事务调度池在事务帧中选取优先级最高的事务帧。
步骤2032，利用实时事务调度池控制第一通信模块向目标无人机发送优 先级最高的事务帧。
步骤2033，提升实时事务调度池中其他事务帧的优先级。
需要说明的是，事务帧包括读事务帧、写事务帧和实时事务帧；实时事务帧的优先级高于读事务帧的优先级和写事务帧的优先级，写事务帧的优先级高于读事务帧的优先级。
上述步骤2031-步骤2033的具体说明内容请参照实施例一至实施例四的内容，在此不再赘述。
实施例十二
请参照图13，在上述实施例的基础上，地面站与无人机的通信方法还可以包括步骤209-步骤211，以保证地面站11的应用能够频繁的读取无人机的数据来刷新监控界面，具体内容如下：
步骤209，向实时事务调度池中添加读事务帧；具体的，向实时事务调度池中添加读事务帧可以包括以下两种方式：方式一，定时向实时事务调度池中添加读事务帧；方式二，当实时事务调度池中每存储p个事务帧时，向实时事务调度池中添加一个读事务帧，p为大于零的正整数。
步骤210，控制实时事务调度池从第一通信模块获取数据帧，并存储该数据帧。
步骤211，当应用向实时事务调度池请求无人机的数据帧时，将实时事务调度池通过第一通信模块最近一次从无人机获取的数据帧提供给应用。
上述步骤209-步骤211的具体说明内容请参照实施例一至实施例四的内容，在此不再赘述。
实施例十三
请参阅图14，在上述实施例的基础上，步骤203之后还可以增添步骤212或步骤213，具体内容如下：
步骤212，当实时事务调度池控制第一通信模块向目标无人机发送一个事务帧后，直至接收到与事务帧对应的回复帧时，控制第一通信模块将下一个事务帧发送至对应的目标无人机。
步骤213，当实时事务调度池控制第一通信模块向无人机发送一个事务帧后，直至超过预设时长后还未收到与事务帧对应的回复帧时，控制第一通信模块将下一个事务帧发送至对应的目标无人机。
上述步骤212或步骤213的具体说明内容请参照实施例一至实施例四的内容，在此不再赘述。
实施例十四
请参阅图15，本发明实施例提供一种无人机与地面站的通信方法，用于无人机，无人机包括用于接收地面站发送的事务帧或向所述地面站发送数据帧的第二通信模块，具体的，地面站与无人机的通信方法包括：
步骤301，获取所述第二通信模块接收的事务帧，所述事务帧由地面站中的应用生成，并由地面站利用实时事务调度池控制第一通信模块发送。
步骤302，执行事务帧所指示的操作。
步骤303，控制所述第二通信模块向所述地面站的第一通信模块返回数据帧，以便地面站利用实时事务调度池控制所述第一通信模块接收该数据帧以及将该数据帧提供给所述地面站中的应用。
上述步骤301至步骤303的具体说明内容请参照实施例五和实施例六的内容，在此不再赘述。
本发明实施例提供的地面站与无人机的通信方法中，无人机控制无人机中的第二通信模块接收地面站发送的事务帧，并执行事务帧指示的操作，无人机还可以向地面站返回数据帧，与现有技术中与多个应用占用地面站的通信模块进行通信的无人机相比，在多个应用需要向多台无人机发送事务帧或获取数据帧时，本发明中的无人机控制第二通信模块接收地面站利用事务调度模块控制第一通信模块发送的事务帧，根据第二通信模块接收的事务帧，控制无人机执行事务帧指示的操作，还能够控制第二通信模块向地面站的第一通信模块返回数据帧，以便地面站利用事务调度模块控制第一通信模块接收该数据帧以及将该数据帧提供给地面站中的应用，从而保证地面站中应用能够通过事务调度模块从第一通信模块有序的获取需要的数据帧，省去了应 用占用第一通信模块后再退出的步骤，降低了多个应用与多台无人机进行通信的复杂度，从而提高多个应用与多台无人机之间的通信效率。
实施例十五
请参阅图16，在实施例十四的基础上，可以在步骤301之前添加步骤305和步骤306，在步骤302之后添加步骤307，具体内容如下：
步骤305，获取第二通信模块接收的双方配对请求，所述双方配对请求由所述地面站利用实时事务调度池控制第一通信模块所发送。
步骤306，存储所述双方配对请求中地面站的通信配置，并控制所述第二通信模块向所述地面站的第一通信模块返回无人机的配置信息，以便地面站利用实时事务调度池存储无人机的配置信息以及向所述地面站中的应用反馈配对成功信息。
步骤307，控制所述第二通信模块向所述地面站的第一通信模块返回回复帧，以便所述地面站利用实时事务调度池控制所述第一通信模块接收该回复帧以及控制第一通信模块将下一个事务帧发送至对应的目标无人机。
上述步骤305至步骤307的具体说明内容请参照实施例五和实施例六的内容，在此不再赘述。
实施例十六
请参阅图17，本发明实施例提供了一种地面站与无人机的通信方法，包括：
步骤401，地面站建立实时事务调度池。
步骤402，地面站利用所述实时事务调度池控制所述第一通信模块发送事务帧至目标无人机，该事务帧由地面站中的应用生成，用于操作所述目标无人机。
步骤403，无人机接收并获取所述地面站发送的事务帧，执行该事务帧所指示的操作。
步骤404，无人机向所述地面站返回数据帧。
步骤405，地面站利用所述实时事务调度池获取所述第一通信模块接收到 的数据帧，将所述数据帧提供给所述地面站中的应用。
上述步骤401至步骤405的具体说明内容请参照前述实施例一至实施例十五的内容，在此不再赘述。
实施例十七
请参阅图18，在实施例十六的基础上，在步骤402之前还可以添加步骤409-步骤414，在步骤404之后还可以添加步骤步骤415和步骤416，具体内容如下：
步骤409，地面站接收应用的配对请求，配对请求用于请求控制实时事务调度池建立第一通信模块与目标无人机之间的通信链路。
步骤410，地面站检测实时事务调度池中是否存储有目标无人机的配置信息。
步骤411，当实时事务调度池中未存储有目标无人机的配置信息时，地面站利用实时事务调度池控制第一通信模块向目标无人机发送双方配对请求。
步骤412，无人机接收所述地面站发送的双方配对请求，存储所述双方配对请求中的地面站的通信配置。
步骤413，无人机向所述地面站返回无人机的配置信息。
步骤414，地面站利用实时事务调度池控制第一通信模块接收目标无人机返回的配置信息，并利用实时事务调度池存储所述目标无人机的配置信息及向应用反馈配对成功信息。
步骤415，无人机向所述地面站返回回复帧。
步骤416，地面站利用实时事务调度池控制第一通信模块接收无人机返回的回复帧，并利用实时事务调度池控制第一通信模块发送下一个事务帧至对应的目标无人机。
上述步骤409至步骤416的具体说明内容请参照前述实施例一至实施例十五的内容，在此不再赘述。
本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同 之处。尤其，无人机的说明部分，也可以参见地面站的相关说明，地面站与无人机的通信系统的说明部分，可以参见地面站以及无人机的相关说明；此外，对于地面站与无人机的通信方法的实施例而言，由于其基本相似于地面站以及无人机的实施例，所以描述得比较简单，相关之处参见地面站与以及无人机的实施例的部分说明即可。
本领域普通技术人员可以理解，在本申请所提供的实施例中，所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，即可以位于一个地方，或者也可以分布到多个网络单元上。另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
在上述实施方式的描述中，具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。

Claims (30)

  1. 一种地面站，其中，所述地面站包括第一通信模块以及与所述第一通信模块连接的事务调度模块，所述事务调度模块用于存储所述地面站中的应用生成的事务帧，还用于控制所述第一通信模块向目标无人机发送所述事务帧，获取所述第一通信模块接收到的数据帧，并将所述数据帧提供给所述地面站中的应用，所述应用用于操作所述目标无人机。
  2. 根据权利要求1所述的地面站，其中，所述事务调度模块包括接收单元、第一存储单元、检测单元、配对单元和反馈单元；
    所述接收单元用于接收应用的配对请求，所述配对请求用于请求控制所述事务调度模块建立所述第一通信模块与目标无人机之间的通信链路；
    所述第一存储单元用于存储无人机的配置信息；
    所述检测单元用于检测在所述第一存储单元中是否存储有目标无人机的配置信息；
    所述配对单元用于当所述第一存储单元未存储有目标无人机的配置信息时，控制所述第一通信模块向所述目标无人机发送双方配对请求，并在第一通信模块接收到目标无人机的配置信息后将该配置信息存储在第一存储单元中及向应用反馈配对成功信息；
    所述反馈单元用于当所述第一存储单元存储有目标无人机的配置信息时，向应用反馈配对成功信息。
  3. 根据权利要求1所述的地面站，其中，所述事务帧具有优先级；所述事务调度模块包括优先级单元，所述优先级单元用于每隔一个事务帧提取周期，在事务帧中选取优先级最高的事务帧，控制所述第一通信模块向目标无人机发送优先级最高的所述事务帧。
  4. 根据权利要求3所述的地面站，其中，事务帧包括读事务帧、写事务帧和实时事务帧；所述实时事务帧的优先级高于所述读事务帧的优先级和所述写事务帧的优先级，所述写事务帧的优先级高于所述读事务帧的优先级。
  5. 根据权利要求3所述的地面站，其中，所述事务调度模块包括优先级 更新单元，所述优先级更新单元用于在所述事务调度模块中优先级最高的事务帧被发送后，提升所述事务调度模块中其他事务帧的优先级。
  6. 根据权利要求4所述的地面站，其中，所述事务调度模块包括第二存储单元和添加单元；
    所述第二存储单元用于存储所述事务帧；
    所述添加单元用于向所述第二存储单元中添加所述读事务帧。
  7. 根据权利要求6所述的地面站，其中，所述添加单元具体用于：定时向所述第二存储单元中添加所述读事务帧；或者，当所述第二存储单元中每存储p个所述事务帧时，向所述第二存储单元中添加一个所述读事务帧，所述p为大于零的正整数。
  8. 根据权利要求6或7所述的地面站，其中，所述事务调度模块还包括第三存储单元和数据回应单元；
    所述第三存储单元用于存储通过第一通信模块从无人机获取的数据帧；
    所述数据回应单元用于当应用向所述事务调度模块请求无人机的数据帧时，将所述第三存储单元中存储的最近一次从无人机获取的数据帧提供给所述应用。
  9. 根据权利要求1所述的地面站，其中，所述事务调度模块包括发送控制单元，所述发送控制单元用于当控制所述第一通信模块向目标无人机发送一个事务帧后，直至接收到与所述事务帧对应的回复帧时，或者直至超过预设时长后还未收到与所述事务帧对应的回复帧时，控制所述第一通信模块将下一个事务帧发送至对应的目标无人机。
  10. 一种无人机，其中，所述无人机包括第二通信模块和飞行控制器，所述第二通信模块用于接收地面站利用事务调度模块控制第一通信模块所发送的事务帧，所述事务帧由地面站中的应用生成，用于操作无人机；所述飞行控制器用于获取所述第二通信模块接收的事务帧，并控制无人机执行所述事务帧所指示的操作；所述飞行控制器还用于控制所述第二通信模块向地面站的第一通信模块返回数据帧，以便所述地面站利用事务调度模块控制所述 第一通信模块接收该数据帧以及将该数据帧提供给所述地面站中的应用。
  11. 根据权利要求10所述的无人机，其中，所述第二通信模块还用于接收地面站利用事务调度模块中配对单元控制第一通信模块所发送的双方配对请求；所述飞行控制器还用于获取第二通信模块接收的双方配对请求，存储所述双方配对请求中的地面站的通信配置，并控制所述第二通信模块向所述地面站的第一通信模块返回无人机的配置信息，以便地面站利用事务调度模块中配对单元将无人机的配置信息存储在事务调度模块的第一存储单元中以及向所述地面站中的应用反馈配对成功信息。
  12. 根据权利要求10所述的无人机，其中，所述飞行控制器还用于在获取所述第二通信模块接收的事务帧之后，控制所述第二通信模块向所述地面站的第一通信模块返回回复帧，以便所述地面站利用事务调度模块控制所述第一通信模块接收该回复帧以及控制第一通信模块将下一个事务帧发送至目标无人机。
  13. 一种地面站与无人机的通信系统，其中，包括地面站和至少一台无人机，所述地面站被设置为发送事务帧至目标无人机，所述事务帧由地面站中的应用生成，被设置为操作所述目标无人机；
    所述无人机被设置为接收并获取所述地面站发送的事务帧，并执行所述事务帧所指示的操作；所述无人机还被设置为向所述地面站返回数据帧；
    所述地面站还被设置为接收目标无人机返回的数据帧，并将所述数据帧提供给所述应用。
  14. 根据权利要求13所述的地面站与无人机的通信系统，其中，在发送事务帧至目标无人机之前，所述地面站还被设置为接收应用的配对请求，检测是否存储有目标无人机的配置信息，并在未存储有目标无人机的配置信息时，向目标无人机发送双方配对请求；
    所述无人机还被设置为接收地面站发送的双方配对请求，存储所述双方配对请求中地面站的通信配置，并向所述地面站返回无人机的配置信息；
    所述地面站还被设置为接收目标无人机返回的配置信息，存储所述配置 信息，并向地面站中的应用反馈配对成功信息。
  15. 根据权利要求13所述的地面站与无人机的通信系统，其中，所述无人机还被设置为在接收所述地面站发送的事务帧之后，向所述地面站返回回复帧；
    在发送事务帧至该事务帧所对应的目标无人机之后，所述地面站还被设置为接收目标无人机返回的回复帧，并控制第一通信模块发送下一个事务帧至对应的目标无人机。
  16. 一种地面站与无人机的通信方法，其中，所述地面站包括被设置为向所述无人机发送事务帧或接收所述无人机发送的数据帧的第一通信模块；所述地面站与无人机的通信方法包括：
    建立实时事务调度池；
    利用所述实时事务调度池存储所述地面站中的应用生成的事务帧，所述应用被设置为操作所述目标无人机；
    利用所述实时事务调度池控制所述第一通信模块向目标无人机发送所述事务帧；
    利用所述实时事务调度池获取所述第一通信模块接收到的数据帧，将所述数据帧提供给所述地面站中的应用。
  17. 根据权利要求16所述的地面站与无人机的通信方法，其中，在利用所述实时事务调度池存储所述地面站中的应用生成的事务帧之前，还包括：
    接收应用的配对请求，所述配对请求被设置为请求控制所述实时事务调度池建立所述第一通信模块与目标无人机之间的通信链路；
    检测所述实时事务调度池中是否存储有目标无人机的配置信息；
    当所述实时事务调度池中未存储有目标无人机的配置信息时，控制所述第一通信模块向所述目标无人机发送双方配对请求，并在第一通信模块接收到目标无人机的配置信息后将该配置信息存储在地面站的第一存储单元中及向应用反馈配对成功信息；
    当所述实时事务调度池中存储有所述目标无人机的配置信息时，向应用 反馈配对成功信息。
  18. 根据权利要求16所述的地面站与无人机的通信方法，其中，所述事务帧具有优先级；所述地面站利用所述实时事务调度池控制所述第一通信模块向所述无人机发送所述事务帧，包括：
    每隔一个事务帧提取周期，利用实时事务调度池在事务帧中选取优先级最高的事务帧；
    利用实时事务调度池控制所述第一通信模块向目标无人机发送所述优先级最高的事务帧。
  19. 根据权利要求18所述的地面站与无人机的通信方法，其中，事务帧包括读事务帧、写事务帧和实时事务帧；所述实时事务帧的优先级高于所述读事务帧的优先级和所述写事务帧的优先级，所述写事务帧的优先级高于所述读事务帧的优先级。
  20. 根据权利要求18所述的地面站与无人机的通信方法，其中，在利用所述实时事务调度池控制所述第一通信模块向所述目标无人机发送所述优先级最高的事务帧之后，还包括：
    提升所述实时事务调度池中其他所述事务帧的优先级。
  21. 根据权利要求19所述的地面站与无人机的通信方法，其中，还包括：
    向所述实时事务调度池中添加所述读事务帧。
  22. 根据权利要求21所述的地面站与无人机的通信方法，其中，向所述实时事务调度池中添加所述读事务帧，包括：
    定时向所述实时事务调度池中添加所述读事务帧；
    或者，当实时事务调度池中每存储p个所述事务帧时，向所述实时事务调度池中添加一个所述读事务帧，所述p为大于零的正整数。
  23. 根据权利要求21或22所述的地面站与无人机的通信方法，其中，还包括：
    控制所述实时事务调度池从所述第一通信模块获取数据帧，并存储该数据帧；
    当应用向所述实时事务调度池请求无人机的数据帧时，将所述实时事务调度池将第一通信模块最近一次从无人机获取的数据帧提供给所述应用。
  24. 根据权利要求16所述的地面站与无人机的通信方法，其中，还包括：
    当所述实时事务调度池控制所述第一通信模块向目标无人机发送一个事务帧后，直至接收到与所述事务帧对应的回复帧时，控制所述第一通信模块将下一个事务帧发送至对应的目标无人机；
    或者，当所述实时事务调度池控制所述第一通信模块向所述无人机发送一个事务帧后，直至超过预设时长后还未收到与所述事务帧对应的回复帧时，控制所述第一通信模块将下一个事务帧发送至对应的目标无人机。
  25. 一种无人机与地面站的通信方法，其中，所述无人机包括被设置为接收地面站发送的事务帧或向所述地面站发送数据帧的第二通信模块，所述地面站与无人机的通信方法包括：
    获取所述第二通信模块接收的事务帧，所述事务帧由地面站中的应用生成，并由地面站利用实时事务调度池控制第一通信模块发送；
    执行所述事务帧所指示的操作；
    控制所述第二通信模块向所述地面站的第一通信模块返回数据帧，以便地面站利用实时事务调度池控制所述第一通信模块接收该数据帧以及将该数据帧提供给所述地面站中的应用。
  26. 根据权利要求25所述的无人机与地面站的通信方法，其中，在接收获取第二通信模块接收的事务帧之前，还包括：
    获取第二通信模块接收的双方配对请求，所述双方配对请求由所述地面站利用实时事务调度池控制第一通信模块所发送；
    存储所述双方配对请求中地面站的通信配置，并控制所述第二通信模块向所述地面站的第一通信模块返回无人机的配置信息，以便地面站利用实时事务调度池存储无人机的配置信息以及向所述地面站中的应用反馈配对成功信息。
  27. 根据权利要求25所述的无人机与地面站的通信方法，其中，在获取 所述第二通信模块接收的事务帧之后，还包括：
    控制所述第二通信模块向所述地面站的第一通信模块返回回复帧，以便所述地面站利用实时事务调度池控制所述第一通信模块接收该回复帧以及控制第一通信模块将下一个事务帧发送至对应的目标无人机。
  28. 一种地面站与无人机的通信方法，其中，所述地面站包括被设置为向所述无人机发送事务帧或接收所述无人机发送的数据帧的第一通信模块；所述地面站与无人机的通信方法包括：
    所述地面站建立实时事务调度池；
    所述地面站利用所述实时事务调度池控制所述第一通信模块发送事务帧至目标无人机，该事务帧由地面站中的应用生成，被设置为操作所述目标无人机；
    所述无人机接收并获取所述地面站发送的事务帧，执行该事务帧所指示的操作；
    所述无人机向所述地面站返回数据帧；
    所述地面站利用所述实时事务调度池获取所述第一通信模块接收到的数据帧，将所述数据帧提供给所述地面站中的应用。
  29. 根据权利要求28所述的地面站与无人机的通信方法，其中，在所述地面站利用所述实时事务调度池控制所述第一通信模块发送事务帧至目标无人机之前，还包括：
    所述地面站接收应用的配对请求，所述配对请求被设置为请求控制所述实时事务调度池建立所述第一通信模块与目标无人机之间的通信链路；
    所述地面站检测所述实时事务调度池中是否存储有目标无人机的配置信息；
    当所述实时事务调度池中未存储有目标无人机的配置信息时，所述地面站利用实时事务调度池控制所述第一通信模块向所述目标无人机发送双方配对请求；
    所述无人机接收所述地面站发送的双方配对请求，存储所述双方配对请 求中的地面站的通信配置，并向所述地面站返回无人机的配置信息；
    所述地面站利用实时事务调度池控制第一通信模块接收目标无人机返回的配置信息，并利用实时事务调度池存储所述目标无人机的配置信息及向应用反馈配对成功信息。
  30. 根据权利要求28所述的地面站与无人机的通信方法，其中，在所述无人机接收并获取所述地面站发送的事务帧之后，还包括：
    所述无人机向所述地面站返回回复帧；
    所述地面站利用实时事务调度池控制第一通信模块接收无人机返回的回复帧，并利用实时事务调度池控制第一通信模块发送下一个事务帧至对应的目标无人机。
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EP3407658A1 (en) 2018-11-28
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