Design And Implementation Of UAV Communication And Positioning Software Based On PX4

As a kind of flying equipment that can carry multiple sensors,UAV has the advantages of flexibility and rapid response.It can quickly perform aerial missions and can undertake military and civil research work such as aerial photography,survey,and reconnaissance.The UAV communication and positioning system,as a platform between the control system and UAV communication,can greatly improve UAV performance and expand unmanned operations under the constraints of a single UAV computing power level and hardware communication transmission distance.Machine application scenarios.Therefore,the research of UAV communication and positioning software is becoming more and more important.In the actual demand application scenarios of UAV communication and positioning software,it is required to have the communication function of multiple UAV formations,to achieve the requirements of high efficiency and good scalability of the UAV ground station communication interface,and to be able to read and write communication data.The optimization can be used for the ground station to control the UAV to perform the practical application tasks of identifying and positioning the target.In response to actual needs,the main work of this subject is to design the UAV wireless ad hoc network communication system,and realize the UAV image target object recognition and positioning function.The communication and positioning software mainly includes four modules on the UAV side and the ground station side,which are communication link module,formation communication module,target data extraction and transmission module,target positioning and coordinate conversion module:(1)communication link The road module is mainly responsible for the realization of the uplink and downlink data links of the UAV communication system,and formulates the data management mechanism and communication protocol.It includes three functional parts: link configuration,uplink and downlink multi-structure management mechanism,and communication protocol.The state lock mechanism and the cache mechanism achieve the effect of optimizing data reading and writing;(2)The formation communication module is mainly responsible for the realization of the UAV formation grouping and the internal communication link of the formation,including the UAV status query and the formation communication division The three functions of communication between the main and auxiliary aircraft of the formation have achieved the effect of interconnection and intercommunication between UAVs;(3)The target data extraction and transmission module is mainly responsible for the identification and classification of the target in the image,the location relationship data extraction and the data transmission.The use of multi-layer scene description network in target data extraction realizes accurate classification of image objects and rapid extraction of spatial information;(4)The target positioning and coordinate conversion module is mainly responsible for the positioning of target points in the world coordinate system.The position of the human-computer in the pixel coordinate system includes two parts: target azimuth calculation and coordinate conversion,which correctly converts the coordinates between the airborne pixel coordinates of the target point and the world coordinates.This subject has designed corresponding functional tests for each module of the UAV communication and positioning software:(1)The communication link module includes the UAV and the ground station communication connection test,the UAV and the ground station data transmission function test,UAV and ground station communication task switching test;(2)The formation communication module includes UAV status query function test,UAV group division test,group information decoding test,main UAV status query test;(3)The target data extraction and transmission module includes target extraction network startup test,target extraction network operation test and target data extraction test;(4)Target positioning and coordinate conversion module includes azimuth conversion function test,latitude and longitude and pixel coordinate conversion function test.In addition,the system startup test,system operation test and system performance test are designed for the entire system.The test results show that the system can meet demand expectations.