CN105825716A - Satellite-communication-based control method and apparatus of unmanned aerial vehicle - Google Patents

Abstract

The present invention provides a control method and device for an unmanned aerial vehicle based on satellite communication. The method includes: the control center receives a take-off request message sent by the unmanned aerial vehicle through a satellite communication link; the take-off request message includes the unmanned aerial vehicle ID and take-off location information; the control center judges whether the drone meets the take-off conditions according to the ID and the take-off location information; if the drone meets the take-off conditions, the control center passes The satellite communication link sends a take-off instruction to the UAV; the take-off instruction is used to instruct the UAV to establish a communication connection with the remote controller, and to allow the UAV to accept the control of the remote controller, It can prevent some illegal drones from launching into the air, eliminate the phenomenon of illegal flights, and help ensure the healthy, rapid and orderly development of the drone industry.

Description

Control method and device for unmanned aerial vehicle based on satellite communication

technical field

Embodiments of the present invention relate to unmanned aerial vehicle technology, and in particular to a method and device for controlling an unmanned aerial vehicle based on satellite communication.

Background technique

With the development of wireless remote control technology, drones have been widely used in many fields such as emergency rescue, environmental detection, power line inspection, aerial photography and mapping, and agricultural plant protection.

At present, with the rapid development of drone technology, the safety control of drones has become the focus. On the one hand, there have been several incidents in China where drones flying illegally have affected civil aviation airliners, and even threatened the safety of the lives and property of personnel on the ground. Moreover, there have also been incidents in the United States where drones almost collided with civil aviation airliners. On the other hand, some UAV manufacturers do not consider the requirements of airworthy flight during the design process, which also makes UAV products have certain safety hazards.

Therefore, in terms of UAV operation control, the existing technology lacks effective control technology and control means, and cannot effectively avoid potential safety hazards caused by non-compliant UAVs taking off into the air.

Contents of the invention

Embodiments of the present invention provide a method and device for controlling UAVs based on satellite communication, which can prevent some illegal UAVs from launching into the air, eliminate illegal flying phenomena, and help ensure the healthy, rapid and orderly development of the UAV industry.

The first aspect of the embodiment of the present invention provides a method for controlling a drone based on satellite communication, including:

The control center receives the take-off request message sent by the drone through the satellite communication link; the take-off request message includes the identity mark and take-off position information of the drone;

The management and control center judges whether the UAV meets the take-off conditions according to the identity mark and the take-off position information;

If the UAV meets the take-off conditions, the control center sends a take-off instruction to the UAV through the satellite communication link; the take-off instruction is used to instruct the UAV to establish a communication connection with the remote controller , and make the drone accept the control of the remote controller.

Further, the control center judges whether the UAV meets the conditions for take-off according to the identification and the take-off location information, including:

The control center judges whether the identity of the drone is legal according to the identity mark;

If the identity of the UAV is legal, judge whether the UAV meets the take-off conditions according to the take-off position information; , then the UAV meets the take-off conditions.

Further, the control center judges whether the identity of the drone is legal according to the identity, including:

The management and control center queries the local database, and if there is user information corresponding to the identity in the local database, the identity of the drone is legal.

Further, after sending the take-off instruction to the UAV, the method further includes:

The control center receives the flight data sent by the UAV through the satellite communication link; the flight data includes the positioning information of the UAV during flight;

When the control center determines that the UAV enters a prohibited flight area according to the flight data, it sends a first takeover instruction to the UAV through the satellite communication link; the first takeover instruction is used to indicate The unmanned aerial vehicle is disconnected from the remote controller, and the unmanned aerial vehicle is controlled by the control center.

Further, if the unmanned aerial vehicle does not meet the take-off conditions, the control center sends a second takeover instruction to the unmanned aerial vehicle through the satellite communication link; the second takeover instruction is used to instruct the unmanned aerial vehicle The man-machine is controlled by the control center.

The second aspect of the embodiment of the present invention provides a method for controlling a drone based on satellite communication, including:

The unmanned aerial vehicle sends a take-off request message to the control center through a satellite communication link; the take-off request message includes the identity mark and take-off position information of the unmanned aerial vehicle;

If the UAV receives the take-off instruction sent by the management and control center according to the identification and the take-off position information through the satellite communication link, the UAV will communicate with the remote control according to the take-off instruction establish a communication connection with the controller, and accept the control of the remote controller.

Further, after the UAV establishes a communication connection with the remote controller according to the take-off instruction and accepts the control of the remote controller, the method further includes:

The UAV sends flight data to the control center through the satellite communication link; the flight data includes positioning information of the UAV during flight.

Further, after the UAV sends flight data to the control center through the satellite communication link, the method also includes:

The UAV receives the first takeover instruction sent by the control center through the satellite communication link; the first takeover instruction is used to instruct the UAV to disconnect the communication connection with the remote controller, and make The unmanned aerial vehicle accepts the control of the control center;

The unmanned aerial vehicle is disconnected from the remote controller according to the first takeover instruction, and accepts the management and control of the control center.

Further, if the UAV receives the second takeover instruction sent by the management and control center according to the identity mark and the take-off position information through the satellite communication link, the UAV will The second takeover instruction accepts the management and control of the management and control center.

The third aspect of the embodiment of the present invention provides a control device for a drone based on satellite communication, including:

The receiving module is configured to receive a take-off request message sent by the UAV through a satellite communication link; the take-off request message includes the identity mark and take-off position information of the UAV;

A processing module, configured to judge whether the UAV meets the take-off conditions according to the identity mark and the take-off position information;

The sending module is used to send a take-off instruction to the UAV through the satellite communication link if the UAV meets the take-off conditions; the take-off instruction is used to instruct the UAV to establish communication with the remote controller connect, and make the drone accept the control of the remote controller.

Further, the processing module includes:

The first judging submodule is used to judge whether the identity of the UAV is legal according to the identity;

The second judging submodule is used to judge whether the UAV meets the take-off conditions according to the take-off position information if the identity of the UAV is legal, and if it is determined according to the take-off position information that the UAV is located at If it is outside the preset no-flying area, the drone meets the take-off conditions.

Further, the first judging submodule is specifically configured to query a local database, and if there is user information corresponding to the identity in the local database, the identity of the drone is legal.

Further, the receiving module is also used to receive the flight data sent by the UAV; the flight data includes the positioning information of the UAV during the flight;

When the processing module determines according to the flight data that the UAV enters a forbidden flight area, the sending module is further configured to send a first takeover instruction to the UAV through the satellite communication link; The first takeover instruction is used to instruct the UAV to disconnect from the remote controller and allow the UAV to accept the control of the control center.

Further, if the UAV does not meet the take-off conditions, the sending module is also used to send a second takeover instruction to the UAV through the satellite communication link; the second takeover instruction is used to indicate The drone is controlled by the control center.

The fourth aspect of the embodiment of the present invention provides a control device for a drone based on satellite communication, including:

A sending module, configured to send a take-off request message to the control center through a satellite communication link; the take-off request message includes the identity mark and take-off position information of the drone;

A receiving module, configured to receive the take-off instruction sent by the management and control center according to the identification and the take-off position information through the satellite communication link;

A communication module is established, configured to establish a communication connection with the remote controller according to the take-off instruction, and accept the management and control of the remote controller.

Further, the sending module is further configured to send flight data to the control center through the satellite communication link; the flight data includes positioning information of the UAV during flight.

Further, the receiving module is also used to receive the first takeover instruction sent by the control center through the satellite communication link; the first takeover instruction is used to instruct the UAV to disconnect from the remote controller Communication connection, and make the drone accept the control of the control center;

The communication establishing module is further configured to disconnect the communication connection with the remote controller according to the first takeover instruction, and accept the management and control of the management and control center.

Further, the receiving module is further configured to receive a second takeover instruction sent by the control center according to the identity and the take-off position information through the satellite communication link;

The communication establishment module is further configured to accept the management and control of the management and control center according to the second takeover instruction.

In the control method and device for a UAV based on satellite communication provided in this embodiment, the UAV carries the identification and take-off position information in the take-off request message through the satellite communication link and sends it to the control center. The take-off position information judges whether the UAV meets the take-off conditions. If the UAV meets the take-off conditions, the control center sends a take-off command to the UAV through the satellite communication link, so that the UAV can establish a communication connection with the remote control according to the take-off command. , and accept the control of the remote control. Before take-off, the drone is identified before it takes off, and the control center identifies and processes the information of the drone. When the drone meets the take-off conditions, it is allowed to take off under the command of the remote control, avoiding some illegal drones Lifting into the air to prevent illegal flights will help ensure the healthy, rapid and orderly development of the drone industry.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 is a schematic diagram of an application scenario of a control method for a drone based on satellite communication provided by an embodiment of the present invention;

2 is a flowchart of a control method for a satellite communication-based unmanned aerial vehicle provided in Embodiment 1 of the present invention;

FIG. 3 is a flow chart of a control method for a satellite communication-based unmanned aerial vehicle provided in Embodiment 2 of the present invention;

FIG. 4 is a flow chart of a control method for a satellite communication-based drone provided in Embodiment 3 of the present invention;

5 is a schematic structural diagram of a control device for a drone based on satellite communication provided in Embodiment 4 of the present invention;

6 is a schematic structural diagram of a control device for a drone based on satellite communication provided in Embodiment 5 of the present invention;

FIG. 7 is a schematic structural diagram of a control device for a drone based on satellite communication provided by Embodiment 6 of the present invention.

detailed description

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

FIG. 1 is a schematic diagram of an application scenario of a control method for a drone based on satellite communication provided by an embodiment of the present invention. As shown in Figure 1, the scene includes UAV 1, control center 2, remote controller 3 and communication satellite 4. Specifically, the device 3 can be an operator's remote control, and the user can remotely control the UAV through the remote control 3, and the UAV can communicate with the control center 2 through the communication satellite 4. The function divides the internal structure of the UAV into a communication satellite navigation unit 11, an on-board processing control unit 12, an on-board communication unit 13, and an on-board communication unit 14, wherein the communication satellite navigation unit 11 is used to obtain the information of the UAV 1. The location information is equivalent to the Global Positioning System (Global Positioning System, referred to as GPS). The onboard processing control unit 12 is used to process the instructions sent by the control center 2 and the remote controller 3 to control the flight status of the UAV 1. The onboard communication The unit 13 communicates with the control center 2 through the communication satellite 4 , and the airborne communication unit 14 receives the control commands sent by the remote controller 3 . Among them, the UAV 1 and the control center 2 can realize the two-way exchange of data and instructions through the satellite data link provided by China Mobile Communications Satellite, and have a duplex mode. The satellite navigation unit 11 , the on-board processing control unit 12 , the on-board communication unit 13 and the on-board communication unit 14 can be integrated on one on-board chip. The satellite navigation unit 11 can realize its own positioning and navigation functions through the built-in Beidou chip. It should be noted that the UAV can also communicate with the control center through other methods such as the 3rd Generation mobile communication technology (3G for short) and the 4th Generation mobile communication technology (4G for short), or it can send the unmanned The internal structure of the machine is divided into modules of other forms, which is not limited in the present invention.

FIG. 2 is a flow chart of a control method for a satellite communication-based drone provided in Embodiment 1 of the present invention. As shown in Figure 2, the method includes the following steps:

Step 101, the UAV sends a takeoff request message to the control center through the satellite communication link.

Wherein, the take-off request message includes the identity and take-off location information of the drone.

In this embodiment, when the UAV is powered on and initialized, it can obtain its own take-off position information through the positioning system, and encrypt the take-off position information and its own identification (Identification, referred to as ID) and then send it to the management and control unit through the satellite communication link. center. For example, as shown in Figure 1, the communication satellite navigation unit 1 obtains the take-off position information of the drone and sends it to the on-board processing control unit 12, and the on-board processing control unit 12 encrypts the take-off position information and the ID through the airborne communication unit 13. The satellite link of the communication satellite 4 is sent to the control center 2 on the ground.

Step 102, the control center judges whether the UAV meets the take-off conditions according to the identification and take-off location information.

In this embodiment, the control center receives the take-off request message sent by the UAV, and judges whether the UAV meets the flight conditions according to the ID and take-off location information. For example, if the UAV's ID is legal and the take-off location If it is located in some airworthy areas, it is determined that the UAV meets the flight conditions; or, if the UAV’s identification is not legal, or the take-off location is located in a prohibited flight area, then the UAV does not meet the take-off conditions.

Step 103, if it is determined that the UAV meets the take-off conditions, the control center sends a take-off instruction to the UAV through the satellite communication link.

Wherein, the take-off command is used to instruct the UAV to establish a communication connection with the remote controller, and make the UAV accept the control of the remote controller.

In this embodiment, if the UAV meets the take-off conditions, the control center sends a take-off command to the UAV through a satellite communication link, allowing the UAV to accept the control of the remote control and take off at the location.

Step 104, the UAV establishes a communication connection with the remote controller according to the take-off command, and accepts the control of the remote controller.

In this embodiment, if the UAV receives the take-off instruction sent by the control center according to the identification and take-off position information through the satellite communication link, the UAV establishes a communication connection with the remote controller according to the take-off instruction, and accepts the Control, for example, as shown in Figure 1, after receiving the take-off command from the control center 2 via the airborne communication unit 13 through the satellite link of the communication satellite 4, the UAV onboard processing control unit 12 activates the airborne communication unit 14, It is ready to receive instructions from the operator's remote controller 3 and is in the state of being taken over by the operator's remote controller.

According to the management and control method of the UAV based on satellite communication provided by this embodiment, the UAV carries the identification and take-off position information in the take-off request message and sends it to the control center through the satellite communication link. The information judges whether the drone meets the take-off conditions. If the drone meets the take-off conditions, the control center sends a take-off command to the drone through the satellite communication link, so that the drone can establish a communication connection with the remote controller according to the take-off command, and Accept the control of the remote control. Before take-off, the drone is identified before it takes off, and the control center identifies and processes the information of the drone. When the drone meets the take-off conditions, it is allowed to take off under the command of the remote control, avoiding some illegal drones Lifting into the air to prevent illegal flights will help ensure the healthy, rapid and orderly development of the drone industry.

FIG. 3 is a flow chart of a control method for a satellite communication-based drone provided by Embodiment 2 of the present invention. As shown in Figure 3, the method includes the following steps:

Step 201, the control center receives the takeoff request message sent by the UAV through the satellite communication link.

Wherein, the take-off request message includes the identity and take-off location information of the drone.

In this embodiment, since the communication satellite works 24 hours a day, and the satellite communication covers a wide range, the UAV uses the satellite communication link to communicate with the control center, which can ensure the communication quality and reliability.

Step 202, the control center judges whether the identity of the UAV is legal according to the identification, and if the identity of the UAV is legal, then executes Step 203; if the identity of the UAV is not legal, then executes Step 207.

Optionally, the control center judges whether the identity of the UAV is legal according to the identity identification, including: the control center queries the local database, and if there is user information corresponding to the identity identification in the local database, then it is determined that the identity of the UAV is legal.

In this embodiment, under normal circumstances, after the user purchases the drone, he needs to register with the relevant department, register the drone's identity, user information, etc., and transfer the drone's identity, user information The mapping relationship is stored in the database. After receiving the take-off request message sent by no one, the control center decrypts the take-off request message to obtain the identity, and compares the ID of the UAV with the data in the database for easy identification. The identity of the drone is verified. If there is user information corresponding to the identity in the local database, it means that the identity of the drone is legal. If there is no user information corresponding to the identity in the local database, it means that the drone is The identity of the drone is illegal and cannot take off and operate.

Optionally, the control center judges whether the identity of the UAV is legal according to the identification, including: querying the local database during the control, and if the identification exists in the local database, it is determined that the identity of the UAV is legal. In this embodiment, when the user registers the drone, only the identity of the drone is stored, and when the identity of the drone is found in the local database, it can be confirmed that the identity of the drone is legal .

Step 203, judge whether the UAV meets the take-off conditions according to the take-off position information, if it is determined according to the take-off position information that the UAV is located outside the preset prohibited flight area, then perform step 204, if it is determined according to the take-off position information that the UAV is located at In the preset no-flying area, step 207 is executed.

In this embodiment, some areas that are not suitable for drone flying, such as airports and urban centers, can be set as prohibited flying areas in advance. The area is set as a no-fly area, etc. If the take-off position of the drone is located in a prohibited flight area, the drone does not meet the take-off conditions; if the take-off position of the drone is outside the prohibited flight area, the drone meets the take-off conditions.

Optionally, in this embodiment, it is also possible to first judge whether the UAV is located outside the preset prohibited flight area according to the take-off position information, and if the UAV is located outside the preset prohibited take-off area, continue Judging whether the identity of the UAV is legal according to the identity identification, if the identity of the UAV is legal, it is determined that the UAV meets the take-off conditions; if the UAV is located in a preset prohibited take-off area, there is no need to judge the UAV Whether the identity of the drone is legal or not directly determines that the drone does not meet the conditions for take-off. Alternatively, the control center can judge whether the UAV is located outside the preset no-fly area according to the take-off position information, and at the same time judge whether the identity of the UAV is legal according to the identification. In addition, and the identity is legal, the UAV meets the take-off conditions, and other conditions are considered that the UAV does not meet the take-off conditions.

Step 204, the UAV meets the take-off conditions, and the control center sends a take-off instruction to the UAV through the satellite communication link.

In this embodiment, if the drone meets the take-off conditions, the control center sends a take-off command to the drone, so that the drone establishes a communication connection with the remote controller according to the take-off command, and accepts the control of the remote controller.

Optionally, after the UAV meets the take-off conditions and takes off and runs under the control of the remote controller, steps 205 and 206 may also be included:

Step 205, the control center receives the flight data sent by the UAV through the satellite communication link.

Wherein, the flight data includes the positioning information of the UAV during the flight.

In this embodiment, the positioning information may include the latitude and longitude information and altitude information obtained by the UAV during its flight, and the flight data may also include the speed information of the UAV.

Step 206, when the management and control center determines that the UAV has entered the forbidden flight area according to the flight data, send a first takeover instruction to the UAV through the satellite communication link.

Wherein, the first takeover instruction is used to instruct the UAV to disconnect the communication connection with the remote controller, and make the UAV accept the control of the control center.

In this embodiment, when the control center detects that the UAV enters the forbidden flight area, it sends the first takeover command to the UAV, so that the UAV and the remote control are disconnected, and the UAV is controlled. Center control, the control center can accurately obtain the longitude and latitude information, height information, speed information and other data during the flight of the drone to achieve effective and precise monitoring. The control center can control the flight status of the drone after it takes off, which can be realized in an emergency Quick remote takeover to achieve the purpose of effective management and control.

Step 207, if the UAV does not meet the take-off conditions, the control center sends a second takeover instruction to the UAV through the satellite communication link.

Wherein, the second takeover instruction is used to instruct the UAV to accept the control of the control center.

In this embodiment, if the UAV does not meet the take-off conditions, the control center sends a second takeover instruction to the UAV, so that the UAV accepts the control of the control center.

Optionally, in this embodiment, the command of the control center has the highest priority, and the UAV preferentially executes the command of the control center. For example, when the control center and the remote controller send control instructions to the UAV at the same time, the UAV will preferentially execute the control instruction from the control center.

In the control method of the unmanned aerial vehicle provided in this embodiment, the control center receives the take-off request message sent by the unmanned aerial vehicle through the satellite communication link, and judges whether the identity of the unmanned aerial vehicle is legal according to the identity mark in the take-off request message. If the identity of the drone is legal, it is determined whether the drone meets the take-off conditions according to the take-off position information. If the drone is located in a prohibited flight area, it does not meet the take-off conditions. The control center sends a second takeover instruction to the drone through the satellite communication link. To make the UAV accept the control of the control center; if the UAV is outside the preset prohibited flight area, it meets the take-off conditions, and the control center sends a take-off command to the UAV through a satellite communication link, so that the UAV Accept the control of remote control for lift-off operation. During the flight, the control center also receives the flight data sent by the drone through the satellite communication link. The link sends the first takeover command to the UAV, so that the UAV is disconnected from the remote controller and accepts the control of the control center. The identity recognition of the UAV is carried out before take-off to avoid the launch operation of the illegal UAV. The control center can accurately obtain the longitude and latitude information, height information, speed information and other data during the flight of the UAV, so as to realize effective and accurate monitoring. The control center is in After the UAV takes off, it can control its flight status. In an emergency, it can realize rapid remote takeover, achieve the purpose of effective control, ensure the safety of the UAV during use and operation, and prevent illegal flying, which is beneficial to protect the UAV. The industry is developing healthily, rapidly and orderly.

FIG. 4 is a flow chart of a control method for a satellite communication-based drone provided by Embodiment 3 of the present invention. As shown in Figure 4, the method includes the following steps:

Step 301, the UAV sends a take-off request message to the management and control center through the satellite communication link, if the UAV receives the take-off instruction sent by the management and control center through the satellite communication link according to the identification and take-off position information, then perform step 302, if Step 306 is performed when the UAV receives the second takeover instruction sent by the management and control center according to the identification and take-off position information through the satellite communication link.

Wherein, the take-off request message includes the identity and take-off location information of the drone.

In this embodiment, when the management and control center verifies that the identity of the UAV is legal according to the identity identification, and the take-off position is outside the preset forbidden area, it is determined that the UAV meets the conditions for take-off, and then the management and control center passes through the satellite communication link. The road sends take-off instructions to the drone, allowing the drone to fly according to the instructions of the remote control. When the control center verifies that the identity of the UAV is illegal according to the identity identification, and/or, when the take-off position is located in the preset forbidden area, it is determined that the UAV does not meet the take-off conditions, and the UAV is sent to the UAV through a satellite communication link. A second takeover command is sent, so that the UAV is controlled by the control center.

Step 302, the UAV establishes a communication connection with the remote controller according to the take-off command, and accepts the control of the remote controller.

In this embodiment, when the UAV receives the take-off instruction sent by the control center, it establishes a communication connection with the remote controller, receives the control instruction sent by the remote controller, and performs flight according to the control instruction.

Step 303, the UAV sends flight data to the control center through the satellite communication link.

Wherein, the flight data includes the positioning information of the UAV during the flight.

In this embodiment, the positioning information may include the latitude and longitude information and altitude information obtained by the UAV during its flight, and the flight data may also include the speed information of the UAV. The drone can send flight data to the control center every preset time, so that the control center can effectively and accurately monitor the flight status of the drone.

Step 304, the UAV receives the first takeover command sent by the management and control center through the satellite communication link.

Wherein, the first takeover instruction is used to instruct the UAV to disconnect the communication connection with the remote controller, and make the UAV accept the control of the control center.

Step 305, the UAV disconnects the communication connection with the remote controller according to the first takeover instruction, and accepts the control of the control center.

In this embodiment, when the control center detects that the UAV enters the forbidden flight area according to the flight data, it sends the first takeover command to the UAV, so that the UAV and the remote controller are disconnected from the communication connection, and the unmanned The aircraft is under the control of the control center, which can accurately obtain data such as longitude and latitude information, altitude information, and speed information during the flight of the drone to achieve effective and precise monitoring. The control center controls the flight status of the drone after it takes off. It can realize rapid remote takeover and achieve the purpose of effective management and control.

Step 306, the UAV accepts the control of the control center according to the second takeover instruction.

In this embodiment, before the UAV takes off, if the management and control center judges that the UAV does not meet the take-off conditions according to the identity and take-off position information in the take-off request message sent by the UAV, the control center line will report to the UAV. The drone sends a second takeover command, and the drone is controlled by the control center.

In the control method of the UAV provided in this embodiment, the UAV sends a take-off request message to the management and control center through the satellite communication link. The second takeover instruction is to accept the management and control of the control center according to the second takeover instruction; if the UAV receives the takeoff instruction sent by the control center through the satellite communication link according to the identity identification and takeoff position information, then according to the takeoff instruction and the remote control to establish Communication connection, and accept the control of the remote control. During the flight, the UAV sends flight data to the control center through the satellite communication link, so that the control center can accurately monitor the flight status of the UAV. When the UAV enters the prohibited When flying in the area, the UAV will receive the first takeover command sent by the control center through the satellite communication link, disconnect the communication connection with the remote control, and accept the control of the control center. The identity recognition of the UAV is carried out before take-off to avoid the launch operation of the illegal UAV. The control center can accurately obtain the longitude and latitude information, height information, speed information and other data during the flight of the UAV, so as to realize effective and accurate monitoring. The control center is in After the UAV takes off, it can control its flight status. In an emergency, it can realize rapid remote takeover, achieve the purpose of effective control, ensure the safety of the UAV during use and operation, and prevent illegal flying, which is beneficial to protect the UAV. The industry is developing healthily, rapidly and orderly.

FIG. 5 is a schematic structural diagram of a management and control device for a drone based on satellite communication provided by Embodiment 4 of the present invention. As shown in FIG. 5 , the device includes a receiving module 21 , a processing module 22 and a sending module 23 . The receiving module 21 is used to receive the take-off request message sent by the unmanned aerial vehicle through the satellite communication link; the take-off request message includes the identification and take-off position information of the unmanned aerial vehicle; Whether the aircraft meets the take-off conditions; the sending module 23 is used to send a take-off command to the drone through a satellite communication link if the drone meets the take-off conditions; the take-off command is used to instruct the drone to establish a communication connection with the remote controller, and make The drone is controlled by the remote control.

The device of this embodiment can be used to implement the technical solution of the method embodiment shown in FIG. 2 , and its implementation principle and technical effect are similar, and will not be repeated here.

FIG. 6 is a schematic structural diagram of a control device for a drone based on satellite communication provided by Embodiment 5 of the present invention. As shown in FIG. 6 , the processing module 22 includes a first judging submodule 221 and a second judging submodule 222 . The first judging submodule 221 is used to judge whether the identity of the unmanned aerial vehicle is legal according to the identification; the second judging submodule 222 is used to judge whether the unmanned aerial vehicle meets the take-off condition according to the take-off position information if the identity of the unmanned aerial vehicle is legal, If it is determined according to the take-off location information that the drone is outside the preset prohibited flight area, the drone meets the take-off conditions.

Optionally, the first judging sub-module 221 is specifically configured to query a local database. If there is user information corresponding to the identity identifier in the local database, the identity of the drone is legal.

Optionally, the receiving module 21 is also used to receive the flight data sent by the drone through the satellite communication link; the flight data includes the positioning information of the drone during the flight; when the processing module 22 determines that the drone enters the When the flight area is prohibited, the sending module 23 is also used to send the first takeover instruction to the drone through the satellite communication link; the first takeover instruction is used to instruct the drone to disconnect the communication connection with the remote controller, and make the drone accept Management and control of the control center.

Optionally, if the UAV does not meet the take-off conditions, the sending module 23 is also used to send a second takeover instruction to the UAV through the satellite communication link; the second takeover instruction is used to instruct the UAV to accept the control of the control center .

The device of this embodiment can be used to execute the technical solution of the method embodiment shown in FIG. 3 , and its implementation principle and technical effect are similar, and will not be repeated here.

FIG. 7 is a schematic structural diagram of a control device for a drone based on satellite communication provided by Embodiment 6 of the present invention. As shown in FIG. 7 , the device includes a sending module 31 , a receiving module 32 and a communication establishing module 33 . Sending module 31 is used for sending take-off request message to control center by satellite communication link; Take-off request message includes the identification mark and take-off position information of drone; and the take-off command sent by the take-off position information; the establishing communication module 33 is used to establish a communication connection with the remote controller according to the take-off command, and accept the control of the remote controller.

The device of this embodiment can be used to implement the technical solution of the method embodiment shown in FIG. 2 , and its implementation principle and technical effect are similar, and will not be repeated here.

Optionally, the sending module 31 is also configured to send flight data to the control center through a satellite communication link; the flight data includes positioning information of the UAV during flight.

Optionally, the receiving module 32 is also used to receive the first takeover instruction sent by the control center through the satellite communication link; the first takeover instruction is used to instruct the UAV to disconnect the communication connection with the remote controller, and make the UAV accept the control Management and control of the center; establishing communication module 33 is also used to disconnect the communication connection with the remote controller according to the first takeover instruction, and accept the management and control of the management and control center.

Optionally, the receiving module 32 is also used to receive the second takeover instruction sent by the control center according to the identification and take-off position information through the satellite communication link; the communication establishment module 33 is also used to accept the management and control of the control center according to the second takeover instruction.

The device of this embodiment can be used to implement the technical solution of the method embodiment shown in FIG. 4 , and its implementation principle and technical effect are similar, and details are not repeated here.

Those of ordinary skill in the art can understand that all or part of the steps for implementing the above method embodiments can be completed by program instructions and related hardware. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps comprising the above-mentioned method embodiments; and the aforementioned storage medium includes: a read-only memory (Read-Only Memory, referred to as ROM), a random access memory (random access memory, referred to as RAM), a magnetic disk or an optical disk Various media that can store program codes.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.

Claims (18)

1. A control method for unmanned aerial vehicle based on satellite communication, it is characterized in that, comprising: The control center receives the take-off request message sent by the drone through the satellite communication link; the take-off request message includes the identity mark and take-off position information of the drone; The management and control center judges whether the UAV meets the take-off conditions according to the identity mark and the take-off position information; If the UAV meets the take-off conditions, the control center sends a take-off instruction to the UAV through the satellite communication link; the take-off instruction is used to instruct the UAV to establish a communication connection with the remote controller , and make the drone accept the control of the remote controller. 2. The method according to claim 1, wherein the control center judges whether the unmanned aerial vehicle meets the conditions for take-off according to the identification and the take-off location information, including: The control center judges whether the identity of the drone is legal according to the identity mark; If the identity of the UAV is legal, judge whether the UAV meets the take-off conditions according to the take-off position information; , then the UAV meets the take-off conditions. 3. The method according to claim 2, wherein the control center judges whether the identity of the drone is legal according to the identification, including: The management and control center queries the local database, and if there is user information corresponding to the identity in the local database, the identity of the drone is legal. 4. The method according to any one of claims 1-3, characterized in that, after the control center sends a take-off instruction to the unmanned aerial vehicle through the satellite communication link, the method further comprises: The control center receives the flight data sent by the UAV through the satellite communication link; the flight data includes the positioning information of the UAV during flight; When the control center determines that the UAV enters a prohibited flight area according to the flight data, it sends a first takeover instruction to the UAV through the satellite communication link; the first takeover instruction is used to indicate The unmanned aerial vehicle is disconnected from the remote controller, and the unmanned aerial vehicle is controlled by the control center. 5. The method according to claim 1, wherein if the unmanned aerial vehicle does not meet the take-off conditions, the control center sends a second takeover instruction to the unmanned aerial vehicle through the satellite communication link; The second takeover instruction is used to instruct the UAV to accept the management and control of the control center. 6. A control method for unmanned aerial vehicle based on satellite communication, it is characterized in that, comprising: The unmanned aerial vehicle sends a take-off request message to the control center through a satellite communication link; the take-off request message includes the identity mark and take-off position information of the unmanned aerial vehicle; If the UAV receives the take-off instruction sent by the management and control center according to the identification and the take-off position information through the satellite communication link, the UAV will communicate with the remote control according to the take-off instruction establish a communication connection with the controller, and accept the control of the remote controller. 7. The method according to claim 6, wherein the drone establishes a communication connection with the remote controller according to the take-off command, and after accepting the control of the remote controller, the method further comprises: The UAV sends flight data to the control center through the satellite communication link; the flight data includes positioning information of the UAV during flight. 8. The method according to claim 7, wherein, after the unmanned aerial vehicle sends flight data to the control center through the satellite communication link, the method further comprises: The UAV receives the first takeover instruction sent by the control center through the satellite communication link; the first takeover instruction is used to instruct the UAV to disconnect the communication connection with the remote controller, and make The unmanned aerial vehicle accepts the control of the control center; The unmanned aerial vehicle is disconnected from the remote controller according to the first takeover instruction, and accepts the management and control of the control center. 9. The method according to claim 6, wherein if the UAV receives the second takeover message sent by the control center according to the identification and the take-off position information through the satellite communication link instruction, the UAV accepts the management and control of the control center according to the second takeover instruction. 10. A control device for unmanned aerial vehicles based on satellite communications, characterized in that it comprises: The receiving module is configured to receive a take-off request message sent by the UAV through a satellite communication link; the take-off request message includes the identity mark and take-off position information of the UAV; A processing module, configured to judge whether the UAV meets the take-off conditions according to the identity mark and the take-off position information; The sending module is used to send a take-off instruction to the UAV through the satellite communication link if the UAV meets the take-off conditions; the take-off instruction is used to instruct the UAV to establish communication with the remote controller connect, and make the drone accept the control of the remote controller. 11. The device according to claim 10, wherein the processing module comprises: The first judging submodule is used to judge whether the identity of the UAV is legal according to the identity; The second judging submodule is used to judge whether the UAV meets the take-off conditions according to the take-off position information if the identity of the UAV is legal, and if it is determined according to the take-off position information that the UAV is located at If it is outside the preset no-flying area, the drone meets the take-off conditions. 12. The device according to claim 11, wherein the first judging submodule is specifically configured to query a local database, and if there is user information corresponding to the identity in the local database, the non-identity The identity of the human and machine is legal. 13. The device according to any one of claims 10-12, wherein the receiving module is further configured to receive flight data sent by the drone through the satellite communication link; the flight data includes Positioning information of the drone during flight; When the processing module determines according to the flight data that the UAV enters a forbidden flight area, the sending module is further configured to send a first takeover instruction to the UAV through the satellite communication link; The first takeover instruction is used to instruct the UAV to disconnect from the remote controller and allow the UAV to accept the control of the control center. 14. The device according to claim 10, wherein if the unmanned aerial vehicle does not meet the take-off conditions, the sending module is also used to send a second message to the unmanned aerial vehicle through the satellite communication link. A takeover instruction; the second takeover instruction is used to instruct the UAV to accept the control of the control center. 15. A control device for unmanned aerial vehicles based on satellite communications, characterized in that it comprises: A sending module, configured to send a take-off request message to the control center through a satellite communication link; the take-off request message includes the identity mark and take-off position information of the drone; A receiving module, configured to receive the take-off instruction sent by the management and control center according to the identification and the take-off position information through the satellite communication link; A communication module is established, configured to establish a communication connection with the remote controller according to the take-off instruction, and accept the management and control of the remote controller. 16. The device according to claim 15, wherein the sending module is also used to send flight data to the control center through the satellite communication link; the flight data includes that the drone is flying Positioning information in the process. 17. The device according to claim 16, wherein the receiving module is further configured to receive the first takeover instruction sent by the management and control center through the satellite communication link; the first takeover instruction is used to indicate The unmanned aerial vehicle is disconnected from the remote controller, and the unmanned aerial vehicle is controlled by the control center; The communication establishing module is further configured to disconnect the communication connection with the remote controller according to the first takeover instruction, and accept the management and control of the management and control center. 18. The device according to claim 15, wherein the receiving module is further configured to receive the second message sent by the control center according to the identity and the take-off position information through the satellite communication link. taking over orders; The communication establishment module is further configured to accept the management and control of the management and control center according to the second takeover instruction.