CN105828345B - Ground-air wireless sensor network communication device and method compatible with UAV - Google Patents
Ground-air wireless sensor network communication device and method compatible with UAVDownload PDFInfo
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- CN105828345B CN105828345BCN201610301127.6ACN201610301127ACN105828345BCN 105828345 BCN105828345 BCN 105828345BCN 201610301127 ACN201610301127 ACN 201610301127ACN 105828345 BCN105828345 BCN 105828345B
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Abstract
Translated fromChinese
Description
Technical Field
The invention relates to the research field of unmanned aerial vehicles and mobile communication systems, in particular to a communication device and a method of a ground-air wireless sensor network compatible with UAVs (unmanned aerial vehicles).
Background
Under the condition that the global UAV (unmanned aerial vehicle) technology is developed at a high speed at present, particularly under the condition that the unmanned aerial vehicle in China occupies 70% of the global civil unmanned aerial vehicle market, the UAV technology seems to reach the peak, the potential of the UAV technology seems to be fully excavated, but the practical situation is that the UAV technology in China breaks through the advanced field and still has the phoenix feather unicorn angle, the UAV technology only has advantages in the aspects of flight control design, aerial photography surveying and mapping and agricultural development application, and a plurality of core technologies are still in the monopoly of European and American countries, particularly in the aspects of meeting higher requirements of flexibility, adaptability, bandwidth controllability and information/data flow service real-time performance of UAV business communication on a command and control communication network. The conventional UAV communication network only focuses on how to design, establish and optimize a communication topology structure between the UAV and the base station, and few systematic devices and methods covering multiple aspects such as UAV, sensing monitoring, communication real-time optimization and the like are proposed.
Disclosure of Invention
The invention mainly aims to overcome the defects and shortcomings of the prior art, provides a ground-air wireless sensing network communication device and method compatible with a UAV (unmanned aerial vehicle), can meet the requirements of grid network development, establishes a network-centered UAV communication network, completes the services of command and control of the UAV, environmental data acquisition management, communication quality control and the like, and realizes sufficient stability, reliability, strong interconnection and interoperability.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a ground-air wireless sensing network communication device compatible with a UAV (unmanned aerial vehicle), which comprises a sensing monitoring system, a mobile platform system, an integrated Wi-Fi (wireless fidelity) network communication system and a dispatching control platform;
the sensor monitoring system is characterized in that in a sensor network, sensing nodes scattered in a monitored area randomly monitor specific variable objects in a target area in real time;
the mobile platform system is a UAV (unmanned aerial vehicle) for mounting a Wi-Fi communication module, the controllability of the flying speed and the flight path of the UAV is realized by adopting a rotor wing vertical take-off and landing platform, the mobile platform system can be constrained by the flight path planning of a scheduling and control platform, and the mobile platform system can mount corresponding equipment according to business needs;
the integrated Wi-Fi network communication system is mainly based on a Wi-Fi communication mode, and constructs a ground-air data link communication network consisting of an airborne communication module, a sensing node communication module, a base station server and a gateway node of a switching control center according to the structure of a cellular mobile communication network;
the scheduling control platform is a software platform used for unmanned aerial vehicle flight path control, wireless network topology control information and environment variable information acquisition, and is used for realizing GIS thematic map display, real-time flight parameter display, base station coverage area, load capacity, communication quality visualization, base station communication parameter online adjustment, environment variable information real-time display and historical record query.
As a preferred technical scheme, a plurality of types of environment variable sensors are integrated on each sensing node circuit board, when a sensing node receives a data acquisition instruction from a base station, the type of the instruction is immediately judged, and data acquired by the sensors is sent to the base station according to the instruction in a set format.
As a preferred technical scheme, the airborne communication module is an airborne Wi-Fi module built-in TCP/IP protocol stack mounted on a mobile platform system, has a function of converting a high-speed serial interface into Wi-Fi, and is used for realizing transparent data conversion between the high-speed serial interface and a wireless network; the link layer triggered double-link switching mode means that an onboard Wi-Fi module is communicated with wireless access points of two base station servers at the same time, the base station link layer server monitors the link state, and if a new network is found, whether switching is needed or not is determined; if the switching is decided, the server will connect one of the two links to the new network and send a link layer trigger; registering the airborne Wi-Fi module through a new network, and simultaneously keeping the data communication work of the other link; after the registration is successful, the onboard Wi-Fi module transmits and receives data in the new network, and then another link is also connected to the new network.
As a preferred technical solution, the sensing node communication module means that a Wi-Fi module in each sensing node constantly maintains communication with a Wi-Fi module in a base station, and uploads data collected by the sensing node to the base station, a local area communication network formed by the sensing node and the base station has a self-organizing function, a single node forms a multi-hop network for transmitting information through initial communication and negotiation, each sensing network is equipped with a gateway connected to a transmission network, and the transmission network is formed by a single-hop link or a series of wireless network nodes.
As a preferred technical scheme, a Wi-Fi module in the sensing node is internally provided with a TCP/IP protocol stack, has a function of converting a high-speed serial interface into Wi-Fi and is used for realizing transparent data conversion between the high-speed serial interface and a wireless network, and sets the sensing node as a UDP client and the base station as a UDP server through a related configuration command of the Wi-Fi module; the local port of the UDP client can be random and can receive data sent to the sensing node client by any base station server, but the high-speed serial interface forwards the data to a certain remote base station server with the determined target of UDP, the sensing node serving as the client only sends data to the server, other servers only send data to the sensing node and cannot receive the data of the sensing node; the local port of the UDP server end is fixed and can receive data sent to the base station server by any sensing node client, but the high-speed serial interface is forwarded to the client end which is communicated with the server for the last time by the UDP, namely, the high-speed serial interface data of the base station is only forwarded to the sensing node which is communicated with the base station at the last time.
As a preferred technical scheme, after the sensing nodes and the base station are powered on or restarted, the sensing nodes and the base station operate in a transparent mode by default, data acquired by various types of sensing modules in the sensing nodes are processed and analyzed by a main processor and then transmitted to a high-speed serial interface, when the high-speed serial interface receives the data with the maximum packet length, the data immediately forms a packet of data to be transparently transmitted to a Wi-Fi radio frequency transmitter, and when the data received by the high-speed serial interface of the module is not enough with the maximum packet length, the data currently received by the high-speed serial interface forms a packet of data to be transmitted after the packet interval time is up, and the transmitted data is transmitted to the base station through a radio frequency; similarly, the process of receiving data by the base station is the reverse of the above process.
As a preferred technical scheme, the base station server plays a role of a relay node starting and ending on a functional structure, and data between an application layer and a server layer are shared; the switching control center gateway node is responsible for summarizing collected data uploaded by each base station and sending command data of the scheduling control center to the base stations, a data storage module, a Wi-Fi module and a high-speed serial interface communication module are integrated on the hardware design of the switching control center, data need to be preprocessed on a software strategy to meet the format requirement of the communication module, and in addition, a stack scheduling strategy is adopted in a scheduling strategy of data sending.
As a preferred technical scheme, the GIS thematic map display is a global space analysis technology which takes measurement and mapping as a basis, takes a database as a data source for data storage and use and takes computer programming as a platform;
the real-time flight parameter display is a parameter display reflecting the real-time flight attitude of the selected UAV in the area, wherein the parameters comprise the direction, position, height, speed, overload, acceleration, angular displacement, angular velocity, angular acceleration and motor rotating speed of the UAV, and the flight parameters in the area can be randomly adjusted to achieve the purpose of controlling the flight attitude of the UAV.
As a preferred technical solution, the visualization of the communication quality means that the communication conditions of all communication links in the current system can be displayed in real time through digital simulation, wherein the parameters include communication bandwidth, data transmission rate and working frequency;
the real-time display of the environmental variables refers to that the dispatching control platform firstly receives data from the sensing nodes and stores the data into a database, and then reads the latest environmental variable data from the database and displays the latest environmental variable data in a banner form in real time;
the history record query function refers to the condition that environmental variable parameter records, UAV flight trajectory planning records, base station coverage area planning records and base station communication quality online adjustment records can be queried on a history record interface.
The invention also provides a ground-air wireless sensor network communication method compatible with the UAV, which comprises the following steps:
(1) before the system is powered on, configuring each base station as a UDP server side, configuring a sensing node and a UAV mobile platform as UDP client sides, and initializing each device in the system;
(2) after the system is powered on, sending an instruction to a switching control center through an operation scheduling control platform;
(3) the switching control center preprocesses the data after receiving the instruction and stores the data into the command stack, and the stack scheduling algorithm sends the instruction to the target base station by reading the data in the command stack;
(4) the target base station sends out an instruction to the area where the target base station is located after receiving the command data of the switching control center;
(5) when the sensing node receives a data acquisition instruction from the base station, judging the type of the instruction, and sending data acquired by the sensor to the base station in a set format according to the instruction;
(6) the UAV carries corresponding airborne equipment after receiving a flight path planning instruction from the base station, and executes a task according to the instruction;
(7) after receiving the environmental parameters and UAV airborne data acquired by the sensing nodes, the dispatching control platform performs refined calibration through an inversion model, and finally obtains a refined space-time distribution model between the environmental elements and the spectral characteristics of the operation area through a Vonoroi graph method, a data fusion means and a mode identification algorithm.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1) the invention is based on the coverage of a plurality of low-power base stations, and is in cooperative communication without using an airborne high-power data transmission radio station.
2) The coverage area of the invention can be flexibly expanded, network planning is carefully carried out, and signal blind areas can be eliminated.
3) The network can contain a plurality of unmanned aerial vehicles and monitoring terminals.
4) The UAV airborne communication module adopts a double-link structure on hardware and adopts a load moving strategy on software, so that an integrated network Wi-Fi terminal automatic switching mechanism is realized.
Drawings
FIG. 1 is a schematic diagram of a system communication network topology;
FIG. 2 is a system data flow diagram;
FIG. 3 is a schematic diagram of a logical structure of a dispatch policing platform;
fig. 4 is a schematic diagram of a data scheduling of a switching control center.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Examples
As shown in fig. 1, a ground-air wireless sensing network communication device compatible with UAV (unmanned aerial vehicle) comprises a sensing monitoring system, a mobile platform system, an integrated Wi-Fi network communication system and a dispatching control platform;
the sensor monitoring system is characterized in that in a sensor network, sensing nodes scattered in a monitored area randomly monitor specific variable objects in a target area in real time;
the mobile platform system is a UAV (unmanned aerial vehicle) for mounting a Wi-Fi communication module, the controllability of the flying speed and the flight path of the UAV is realized by adopting a rotor wing vertical take-off and landing platform, the mobile platform system can be constrained by the flight path planning of a scheduling and control platform, and the mobile platform system can mount corresponding equipment according to business needs;
the integrated Wi-Fi network communication system is mainly based on a Wi-Fi communication mode, and constructs a ground-air data link communication network consisting of an airborne communication module, a sensing node communication module, a base station server and a gateway node of a switching control center according to the structure of a cellular mobile communication network;
the scheduling control platform is a software platform used for unmanned aerial vehicle flight path control, wireless network topology control information and environment variable information acquisition, and is used for realizing GIS thematic map display, real-time flight parameter display, base station coverage area, load capacity, communication quality visualization, base station communication parameter online adjustment, environment variable information real-time display and historical record query.
The scientific, reasonable and effective flow of data is the key for the normal operation of the system, and a system data flow diagram as shown in fig. 2 is set for the purpose.
The scheduling control platform, that is, the control center performs command control on the lower computer device, including real-time flight parameter acquisition, flight path planning, environment variable parameter acquisition, base station coverage area setting, load amount setting, communication quality visualization, base station communication parameter online adjustment, and the like, and a schematic diagram of an internal logic structure thereof is shown in fig. 3. The whole scheduling and controlling platform is divided into two interfaces, namely a main interface and a historical record interface. A GIS thematic map display area, a base station communication parameter adjusting area, an environment parameter display area and a flight parameter adjusting and track planning area are integrated on the main interface; the historical recording interface is switched on the main interface through a label bar, and the sub-interfaces comprise an environmental parameter acquisition historical interface, a UAV flight trajectory planning historical interface and a base station coverage area planning historical interface. The data of the whole scheduling platform is read from or written into a database, common database tools can be adopted, and mysql, sql server and the like can effectively meet the storage requirements of system data. The direct command applying object of the dispatch policing platform is the switching control center.
The switching control center gateway node hardware design is integrated with a data storage module, a Wi-Fi communication module and a high-speed serial interface communication module, a software strategy adopts a double-stack data temporary storage mode, and data are preprocessed to meet the format requirement of the communication module. The switching control center is used as a primary data scheduling center of the upper computer and the lower computer, and a data scheduling schematic diagram of the switching control center is shown in fig. 4. As can be seen from fig. 4, the system has many data types, large volume and complex content, so that a dual stack structure (including an instruction stack and a data stack) in a batch processing mode is adopted, and a first-in-last-out stack scheduling algorithm is adopted in a scheduling protocol, thereby effectively solving the problem of system data scheduling. And the base stations which are directly interacted with the switching control center through the wireless WI-FI modules are connected with the switching control center.
The system comprises a plurality of base stations, the number of the base stations can be specifically designed according to actual situations, and each base station is responsible for communication between the sensing nodes in one area and the UAVs passing through the area. In order to ensure the reliability of the communication quality, the base station server can receive a communication quality parameter adjustment command from the scheduling control platform, plays a role of a relay node starting from the top in functional structure, and shares data between an application layer and a server layer. The mobile management strategy of the separation mapping of the access identification and the exchange route identification is adopted to separate the dual attributes of the traditional IP address, the access identification represents the identity of the terminal, and the exchange route identification represents the position of the terminal. The mechanism enables the UAV platform to only switch the exchange route identification under the condition of moving, and the access identification for establishing the transmission connection is kept unchanged in the process, and the connection cannot be interrupted.
And for the sensing node, receiving a data acquisition command from the scheduling and controlling platform, and sending acquired data to the processing terminal for processing according to the command. For example, environmental parameters such as the temperature and humidity of the ambient air, illumination, the temperature and humidity of soil, carbon dioxide, wind power, wind direction and the like are continuously collected to obtain ground reference point basic data. And secondly, performing refined calibration on the inversion model between the airborne spectral imaging data and the environmental parameters by using the ground basic data. And finally, obtaining a refined space-time distribution model between the environment elements and the spectral characteristics of the operation area by a Vonoroi graph method and a data fusion means (such as Kalman filtering, Bayesian estimation, principal component analysis and the like).
And the UAV receives the flight path planning command from the dispatching control platform, carries corresponding airborne equipment and executes tasks according to the command. If the airborne equipment adopts a spectral imaging system, spectral images of different wave bands of an operation area are obtained, specific key parameters in the artificial acquisition area are combined, and a time-space distribution relation model between key elements of the operation area and airborne spectral data is obtained by utilizing data fusion means (such as Kalman filtering, Bayesian inference, principal component analysis and the like) and mode identification (such as a deep neural network, support vector regression and the like) algorithms.
The sensing node is composed of a sensing unit, a data processing unit, a data transmission unit and a power supply. The sensing unit consists of various sensors and digital-to-analog conversion equipment, and the type of the sensors is determined by the form of the physical signals to be monitored; data processing usually adopts a low-power consumption embedded microcontroller; the data transmission unit mainly comprises a Wi-Fi communication module. And when the sensing node receives a data acquisition instruction from the base station, the sensing node immediately judges the type of the instruction and sends the data acquired by the sensor to the base station according to the instruction in a set format.
The airborne communication module is an airborne Wi-Fi module which is mounted on a mobile platform system and is internally provided with a TCP/IP protocol stack, has a function of converting a high-speed serial interface into Wi-Fi and is used for realizing transparent data conversion between the high-speed serial interface and a wireless network, when the mobile platform system is switched in a cross-airspace, a double-link switching mode triggered by a link layer is adopted, and a load moving strategy is adopted on software to realize an automatic switching mechanism of the integrated network Wi-Fi terminal; the link layer triggered double-link switching mode means that an onboard Wi-Fi module is communicated with wireless access points of two base station servers at the same time, the base station link layer server monitors the link state, and if a new network is found, whether switching is needed or not is determined; if the switching is decided, the server will connect one of the two links to the new network and send a link layer trigger; registering the airborne Wi-Fi module through a new network, and simultaneously keeping the data communication work of the other link; after the registration is successful, the onboard Wi-Fi module transmits and receives data in the new network, and then another link is also connected to the new network.
The sensing node communication module is characterized in that the Wi-Fi module in each sensing node keeps communication with the Wi-Fi module in the base station at any time, data collected by the sensing nodes are uploaded to the base station, a local area communication network formed by the sensing nodes and the base station has a self-organizing function, a single node forms a multi-hop network for transmitting information through initial communication and negotiation, each sensing network is provided with a gateway connected to a transmission network, and the transmission network is formed by a single-hop link or a series of wireless network nodes.
A TCP/IP protocol stack is arranged in a Wi-Fi module in the sensing node, the Wi-Fi module has a function of converting a high-speed serial interface into Wi-Fi and is used for realizing transparent conversion of data between the high-speed serial interface and a wireless network, the sensing node is set to be a UDP client through a related configuration command of the Wi-Fi module, and a base station is a UDP server; the local port of the UDP client can be random and can receive data sent to the sensing node client by any base station server, but the high-speed serial interface forwards the data to a certain remote base station server with the determined target of UDP, the sensing node serving as the client only sends data to the server, other servers only send data to the sensing node and cannot receive the data of the sensing node; the local port of the UDP server end is fixed and can receive data sent to the base station server by any sensing node client, but the high-speed serial interface is forwarded to the client end which is communicated with the server for the last time by the UDP, namely, the high-speed serial interface data of the base station is only forwarded to the sensing node which is communicated with the base station at the last time.
The sensing nodes and the base station are powered on or operate in a transparent mode by default after being restarted, data collected by various types of sensing modules in the sensing nodes are processed and analyzed by a main processor and then are transmitted to a high-speed serial interface, when the high-speed serial interface receives the data with the maximum packet length, the data immediately form a packet of data to be transparently transmitted to a Wi-Fi radio frequency transmitter, and when the data received by the high-speed serial interface of the module is not enough with the maximum packet length, the data currently received by the high-speed serial interface is formed into a packet to be transmitted after the packet interval time is up, and the transmitted data are transmitted to the base station through a radio frequency module; similarly, the process of receiving data by the base station is the reverse of the above process.
The base station server plays a role of a relay node starting from the top in functional structure, and data between an application layer and a server layer are shared; the switching control center gateway node is responsible for summarizing collected data uploaded by each base station and sending command data of the scheduling control center to the base stations, a data storage module, a Wi-Fi module and a high-speed serial interface communication module are integrated on the hardware design of the switching control center, data need to be preprocessed on a software strategy to meet the format requirement of the communication module, and in addition, a stack scheduling strategy is adopted in a scheduling strategy of data sending.
The GIS thematic map display is a global space analysis technology which takes measurement and mapping as a basis, takes a database as a data source for data storage and use and takes computer programming as a platform;
the real-time flight parameter display is a parameter display reflecting the real-time flight attitude of the selected UAV in the area, wherein the parameters comprise the direction, position, height, speed, overload, acceleration, angular displacement, angular velocity, angular acceleration and motor rotating speed of the UAV, and the flight parameters in the area can be randomly adjusted to achieve the purpose of controlling the flight attitude of the UAV.
The visualization of the communication quality means that the communication conditions of all communication links in the current system can be displayed in real time through digital simulation, wherein the parameters comprise communication bandwidth, data transmission rate and working frequency;
the real-time display of the environmental variables refers to that the dispatching control platform firstly receives data from the sensing nodes and stores the data into a database, and then reads the latest environmental variable data from the database and displays the latest environmental variable data in a banner form in real time;
the history record query function refers to the condition that environmental variable parameter records, UAV flight trajectory planning records, base station coverage area planning records and base station communication quality online adjustment records can be queried on a history record interface.
The UAV and the airborne equipment are airborne equipment carried on a fixed wing or a rotor craft mounted with a Wi-Fi communication module, and the airborne equipment can meet the requirements according to actual conditions, such as a surveying and mapping tool spectral imager, an infrared camera and other sensing and detecting equipment, an application tool fertilizer applicator, a pesticide sprayer and the like.
A ground-air wireless sensing network communication implementation method compatible with UAVs (unmanned aerial vehicles) comprises the following steps:
(1) before the system is powered on, all base stations are configured to be UDP server ends, the sensing nodes and the UAV mobile platform are configured to be UDP client ends, and all devices in the system are initialized.
(2) And after the system is powered on, sending an instruction to the switching control center by operating the scheduling control platform.
(3) After receiving the instruction, the exchange control center preprocesses the data and stores the data in a command stack. The stack scheduling algorithm sends instructions to the target base station by reading the data in the command stack.
(4) The target base station receives the command data of the switching control center and then sends instructions to the area where the target base station is located.
(5) When the sensing node receives a data acquisition instruction from the base station, the type of the instruction is judged, and the data acquired by the sensor is sent to the base station according to the instruction in a set format (such as 'place + data type + numerical value + $').
(6) And the UAV carries corresponding airborne equipment after receiving the flight path planning instruction from the base station, and executes a task according to the instruction.
(7) And after receiving the environmental parameters acquired by the sensing nodes and the UAV airborne data, the dispatching control platform performs fine calibration through an inversion model. And finally, obtaining a refined space-time distribution model between the environment elements and the spectral characteristics of the operation area by a Vonoroi graph method, a data fusion means, a mode identification algorithm and the like.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (8)
1. A ground-air wireless sensing network communication device compatible with a UAV (unmanned aerial vehicle) is characterized by comprising a sensing monitoring system, a mobile platform system, an integrated Wi-Fi (wireless fidelity) network communication system and a dispatching and controlling platform;
the sensing monitoring system is characterized in that in a sensor network, sensing nodes scattered in a monitored area randomly monitor specific variable objects in a target area in real time;
the mobile platform system is a UAV (unmanned aerial vehicle) for mounting a Wi-Fi communication module, the controllability of the flying speed and the flight path of the UAV is realized by adopting a rotor wing vertical take-off and landing platform, the mobile platform system can be constrained by the flight path planning of a scheduling and control platform, and the mobile platform system can mount corresponding equipment according to business needs;
the integrated Wi-Fi network communication system is mainly based on a Wi-Fi communication mode, and constructs a ground-air data link communication network consisting of an airborne communication module, a sensing node communication module, a base station server and a gateway node of a switching control center according to the structure of a cellular mobile communication network;
the airborne communication module is an airborne Wi-Fi module which is mounted on a mobile platform system and is internally provided with a TCP/IP protocol stack, has a function of converting a high-speed serial interface into Wi-Fi and is used for realizing transparent data conversion between the high-speed serial interface and a wireless network, when the mobile platform system is switched in a cross-airspace, a double-link switching mode triggered by a link layer is adopted, and a load moving strategy is adopted on software to realize an automatic switching mechanism of the integrated network Wi-Fi terminal; the link layer triggered double-link switching mode means that an onboard Wi-Fi module is communicated with wireless access points of two base station servers at the same time, the base station link layer server monitors the link state, and if a new network is found, whether switching is needed or not is determined; if the switching is decided, the server will connect one of the two links to the new network and send a link layer trigger; registering the airborne Wi-Fi module through a new network, and simultaneously keeping the data communication work of the other link; after the registration is successful, the airborne Wi-Fi module transmits and receives data in a new network and then connects another link to the new network;
the scheduling control platform is a software platform used for unmanned aerial vehicle flight path control, wireless network topology control information and environment variable information acquisition, and is used for realizing GIS thematic map display, real-time flight parameter display, base station coverage area, load capacity, communication quality visualization, base station communication parameter online adjustment, environment variable information real-time display and historical record query.
2. The UAV compatible ground-air wireless sensor network communication device of claim 1, wherein the sensing node circuit boards are integrated with a plurality of types of environment variable sensors, and when receiving a data acquisition command from the base station, the sensing node immediately determines the command type and sends the data acquired by the sensors to the base station in a set format according to the command.
3. The UAV compatible ground-air wireless sensor network communication apparatus of claim 1, wherein the sensor node communication module is a Wi-Fi module in each sensor node that constantly maintains communication with a Wi-Fi module in a base station and uploads data collected by the sensor node to the base station, the local communication network formed by the sensor node and the base station has a self-organizing function, a single node forms a multi-hop network for transmitting information through initial communication and negotiation, each sensor network is equipped with a gateway connected to a transmission network, and the transmission network is formed by a single-hop link or a series of wireless network nodes.
4. The UAV-compatible ground-to-air wireless sensor network communication device of claim 1, wherein a Wi-Fi module in the sensor node has a built-in TCP/IP protocol stack, and has a high-speed serial interface to Wi-Fi function, so as to implement transparent data conversion between the high-speed serial interface and the wireless network, and the sensor node is set as a UDP client and the base station is a UDP server through relevant configuration commands of the Wi-Fi module; the local port of the UDP client can be random and can receive data sent to the sensing node client by any base station server, but the high-speed serial interface forwards the data to a certain remote base station server with the determined target of UDP, the sensing node serving as the client only sends data to the server, other servers only send data to the sensing node and cannot receive the data of the sensing node; the local port of the UDP server end is fixed and can receive data sent to the base station server by any sensing node client, but the high-speed serial interface is forwarded to the client end which is communicated with the server for the last time by the UDP, namely, the high-speed serial interface data of the base station is only forwarded to the sensing node which is communicated with the base station at the last time.
5. The UAV compatible ground-air wireless sensor network communication device of claim 1, wherein the sensor nodes and the base station are powered on or operate in a transparent mode by default after being restarted, data collected by each type of sensor module in the sensor nodes is processed and analyzed by the host processor and then transmitted to the high-speed serial interface, when the high-speed serial interface receives the data with the maximum packet length, the data immediately forms a packet of data to be transparently forwarded to the Wi-Fi radio frequency transmitter, and when the data received by the high-speed serial interface does not have the maximum packet length, the data currently received by the high-speed serial interface forms a packet of data to be forwarded after the packet interval time expires, and the forwarded data is sent to the base station through the radio frequency module; similarly, the process of receiving data by the base station is the reverse of the above process.
6. The UAV compatible ground-to-air wireless sensor network communicator of claim 1, wherein the base station server is functionally configured to act as an initial relay node to share data between an application layer and a server layer; the switching control center gateway node is responsible for summarizing collected data uploaded by each base station and sending command data of the scheduling control platform to the base stations, a data storage module, a Wi-Fi module and a high-speed serial interface communication module are integrated on the hardware design of the switching control center, data need to be preprocessed on a software strategy to meet the format requirement of the communication module, and in addition, a stack scheduling strategy is adopted in a scheduling strategy of data sending.
7. The UAV compatible ground-to-air wireless sensor network communication apparatus of claim 1, wherein the GIS thematic map display is a global spatial analysis technique based on survey and mapping, using a database as a data source for data storage and use, and a computer programmed platform;
the real-time flight parameter display is a parameter display reflecting the real-time flight attitude of the selected UAV in the area, wherein the parameters comprise the direction, position, height, speed, overload, acceleration, angular displacement, angular velocity, angular acceleration and motor rotating speed of the UAV, and the flight parameters in the area can be randomly adjusted to achieve the purpose of controlling the flight attitude of the UAV.
8. The UAV compatible ground-air wireless sensor network communication apparatus of claim 1, wherein the visualization of the communication quality means that the communication status of all communication links in the current system can be displayed in real time through digital simulation, wherein the parameters include communication bandwidth, data transmission rate and working frequency;
the real-time display of the environment variable information means that the scheduling control platform firstly receives data from the sensing nodes and stores the data in a database, and then reads the latest environment variable data from the database and displays the latest environment variable data in a banner form in real time;
the history record query function refers to the condition that environmental variable parameter records, UAV flight trajectory planning records, base station coverage area planning records and base station communication quality online adjustment records can be queried on a history record interface.
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