CN114296481A - UAV data transmission method, device, UAV and ground station - Google Patents

Abstract

The invention provides a data transmission method and device for an unmanned aerial vehicle, the unmanned aerial vehicle and a using unit, wherein the method comprises the following steps: the unmanned aerial vehicle receives first data sent by the ground station and second data sent by the using unit, wherein the frame structure of the first data comprises: flight control instruction identification and first instruction content; and/or the first identification command and the second command content; the frame structure of the second data comprises a second arbitrary control instruction identification and third instruction content; and the unmanned aerial vehicle carries out flight control according to the first data and the second data and the first instruction content, and carries out task control operation on the load according to the third instruction content. By the method and the device, the reliability of the unmanned aerial vehicle exchange control right is improved.

Description

UAV data transmission method, device, UAV and ground station

technical field

The invention relates to the field of unmanned aerial vehicles, in particular to a method and device for data transmission of unmanned aerial vehicles, unmanned aerial vehicles and ground stations.

Background technique

In recent years, Unmanned Aerial Vehicle (UAV or UAV for short) has become one of the most promising aircraft types, with long flight time, wide range of uses, high cost performance, and rich types of payloads and weapons. Using mounted electro-optical payloads, guided weapons, synthetic aperture radar, communication reconnaissance and other equipment, long-endurance UAVs can be used in anti-terrorism operations, patrol reconnaissance, mineral detection, forest fire prevention, marine monitoring and other fields.

Different from the usual consumer-grade unmanned aerial vehicle (Drone), the long-endurance UAV usually flies more than 5000m, the duration is more than 24 hours, and it needs to mount a heavier load. Therefore, long-endurance UAVs need to adopt more sophisticated technologies in terms of body materials, power systems, flight control systems, and communication systems.

Now with the continuous expansion of the long-range application field of medium and large UAVs, there are more and more application scenarios of UAVs. Including the common military and civilian fields, especially involving the use of medium and large UAVs across regions and different places, the method of handover control of UAVs by UAV ground stations and remote use units is usually used to meet the needs of UAVs in different places. In practical applications, it is necessary to switch the control rights of the UAV among multiple UAV controllers. After the UAV reaches the mission area, the command and control rights of the UAV are communicated through satellite relay communication or line-of-sight communication. For the use unit, the UAV information is also transmitted to the use unit for processing in real time. The controller is usually a fixed ground ground station, a mobile command warehouse, an early warning aircraft, and a surface ship.

In the related art, the control right of the UAV is handed over through the UAV ground station and the use unit to realize the remote control of the UAV to perform tasks in different areas. Each controller must be able to control the UAV to fly, and the data transmission settings need to be re-configured. Designed to improve reliability of data transmission in UAV links.

SUMMARY OF THE INVENTION

In order to solve the above problems, the present invention provides a method and device for data transmission of an unmanned aerial vehicle, an unmanned aerial vehicle and a ground station.

According to an aspect of the present invention, there is provided a method for transmitting data from an unmanned aerial vehicle. The method includes: the unmanned aerial vehicle receives first data sent by a ground station and second data sent by a usage unit, wherein the first data is The frame structure includes: the flight control instruction identifier and the first instruction content; and/or the first recognition control instruction identifier and the second instruction content; the frame structure of the second data includes the second arbitrary control instruction identifier and the third instruction content; The UAV performs flight control according to the first instruction content according to the first data and the second data, and performs mission control operations on the payload according to the third instruction content.

Preferably, before the drone performs flight control according to the first instruction content according to the first data and the second data, and performs mission control operations on the payload according to the third instruction content, further comprising: : The UAV parses the following information to generate flight control instructions and arbitrary control instructions for the UAV:

the flight control instruction identifier and/or the first instruction content;

the identifier of the second flight control instruction and the content of the third instruction;

Wherein, the frame structure corresponding to the flight control instruction includes: the flight control instruction frame header and the instruction content; the frame structure corresponding to the arbitrary control instruction includes: the arbitrary control instruction frame header and the instruction content, and the information contained in the arbitrary control instruction The identifier of the second control instruction and the content of the third instruction sent by the use unit.

Preferably, the frame structure further includes: the aircraft type of the UAV.

Preferably, the frame structure further includes: the type of the ground station and the control station number of the ground station.

Preferably, the frame structure further includes: a frame trailer.

Preferably, the unmanned aerial vehicle receiving the second data sent by the use unit includes: the unmanned aerial vehicle receives the second data sent by the use unit through a line-of-sight link.

Preferably, the use unit includes: an early warning aircraft, a ship, an aircraft carrier, and a display console.

According to another aspect of the present invention, a UAV data transmission method is also provided, the method includes: the using unit sends second data to the UAV satisfying the target task according to the target task, the first data The frame structure of the second data includes the second control instruction identifier and the third instruction content, which are used for the UAV according to the flight control instruction identifier, the first instruction content, the second control instruction identifier and all the information sent by the ground station. The third instruction content is used, the flight control is performed according to the first instruction content, and the mission control operation is performed on the payload by using the third instruction content.

Preferably, the use unit includes: an early warning aircraft, a ship, an aircraft carrier, and a display console.

According to yet another aspect of the present invention, a UAV data transmission device is also provided, the device comprising:

a receiving module, configured to receive the first data sent by the ground station and the second data sent by the use unit, wherein the frame structure of the first data includes: the flight control instruction identifier and the first instruction content; and/or the first identification control instruction identification and second instruction content; the frame structure of the second data includes the second control instruction identification and the third instruction content;

The execution module is configured to perform flight control according to the first instruction content according to the first data and the second data, and perform mission control operations on the payload according to the third instruction content.

Preferably, the above-mentioned device further comprises: a processing module, configured to parse the following information, and generate the flight control instructions and the arbitrary control instructions of the UAV:

the flight control instruction identifier and/or the first instruction content;

the identifier of the second flight control instruction and the content of the third instruction;

Wherein, the frame structure corresponding to the flight control instruction includes: the flight control instruction frame header and the instruction content; the frame structure corresponding to the arbitrary control instruction includes: the arbitrary control instruction frame header and the instruction content, and the information contained in the arbitrary control instruction The identifier of the second control instruction and the content of the third instruction sent by the use unit.

Preferably, the frame structure further includes: the aircraft type of the UAV.

Preferably, the frame structure further includes: the type of the ground station and the control station number of the ground station.

Preferably, the frame structure further includes: a frame trailer.

According to yet another aspect of the present invention, there is also provided an unmanned aerial vehicle, comprising: the above-mentioned unmanned aerial vehicle data transmission device.

According to yet another aspect of the present invention, there is also provided an unmanned aerial vehicle data transmission device, located in the use unit, comprising:

The sending module is used to send second data to the drone that meets the target task according to the target task, and the frame structure of the second data includes the second control instruction identifier and the third instruction content, which is used for the unmanned aerial vehicle. According to the flight control instruction identifier, the first instruction content, the second recognition control instruction identifier and the third instruction content sent by the ground station, the man-machine performs flight control according to the first instruction content, and uses the third instruction The content performs mission control operations on the payload.

According to yet another aspect of the present invention, there is also provided a use unit, comprising: the above-mentioned UAV data transmission device.

Through the above-mentioned embodiments, a method, device, unmanned aerial vehicle, and ground station for UAV data transmission are provided. When UAVs use cross-regional tasks in different places, the object of use is not the UAV itself, but the photoelectric, radar and other mission loads carried by the UAV. We control the UAV flight control and UAV mission load control. Differentiation is carried out, the second data of the use unit is received by the drone, and the load is operated according to the recognition and control instructions of the second data and the content of the command, so as to realize the handover of the control right of the drone.

Description of drawings

The accompanying drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the attached image:

1 is a flowchart of a method for transmitting data from an unmanned aerial vehicle according to an embodiment of the present invention;

2 is a structural block diagram of a UAV data transmission device according to an embodiment of the present invention;

3 is a preferred structural block diagram of a UAV data transmission device according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of the frame structure of the first data and the second data of the UAV data transmission according to an embodiment of the present invention.

Detailed ways

It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

Embodiments of the present invention provide a method for transmitting data of an unmanned aerial vehicle. FIG. 1 is a flowchart of a method for transmitting data from a UAV according to an embodiment of the present invention. As shown in FIG. 1 , the method includes the following steps S102 to S104.

Step S102, the unmanned aerial vehicle receives the first data sent by the ground station and the second data sent by the use unit, wherein the frame structure of the first data includes: the flight control instruction identifier and the first instruction content; and/or the first authentication control The instruction identifier and the second instruction content; the frame structure of the second data includes the second control instruction identifier and the third instruction content.

Step S104, according to the first data and the second data, the drone performs flight control according to the content of the first instruction, and performs mission control operations on the payload according to the content of the third instruction.

Through the above embodiment, the drone can use the first data sent by the ground station and the second data sent by the use unit to perform tasks in different places when the drone is used in a cross-area, and the object of use is not the drone itself, but the unmanned aerial vehicle. In the case of mission loads such as optoelectronics and radar carried by the aircraft, we differentiate the UAV flight control and UAV mission load control, and only hand over the control right of the mission load. By receiving the second data of the use unit, the second data The frame structure includes a second control instruction identification and a third instruction identification.

The payloads in the above embodiments may include optoelectronics, synthetic aperture radar, airborne communication relay equipment, and the like. It should be noted that the description here is only used to illustrate the types of payloads, and the payloads may adopt all types of payloads used for UAVs in the related art, and are not used to limit the present application.

Before step S104, the UAV may also perform the following steps: the UAV parses the following information to generate flight control instructions and task instructions of the UAV, and the frame structure corresponding to the flight control instructions includes: the flight control instruction frame header and the Instruction content; the frame structure corresponding to the task instruction includes: the frame header of the arbitrary control instruction and the instruction content, and the information contained in the task instruction is the second recognition control instruction identifier and the third instruction content sent by the use unit;

Flight control instruction identification and/or first instruction content;

The second flight control instruction identifier and the second instruction content.

This operation can be processed by the data processing terminal of the UAV. FIG. 3 shows the remote control instruction frame of the ground station and the remote control instruction frame of the use unit according to the embodiment of the present invention, which are processed by the data processing terminal of the UAV to generate a new The schematic diagram of the command, as shown in Figure 3, the ground station remote control command frame includes: frame header, key area, aircraft type, ground station type, ground station number, flight control/recognition control command identification, command content and frame end. The unit remote control command frame includes: frame header, key area, aircraft type, ground station type, ground station number, identification of the control command, command content and frame end, and the drone receives the above-mentioned frame (corresponding to the After the first data and the second data), the above-mentioned data are processed to generate a new flight control command and a control recognition command, wherein the flight control command includes the flight control command frame header and the command content; the recognition control command includes the recognition control command frame. header and directive content. In this preferred embodiment, the control-recognition instruction of the unit is used to replace the control-recognition instruction sent by the ground station, thereby realizing the transfer of the control right of the UAV mission.

Further, the control right of the drone is not handed over, but the frame structure in the data transmission of the drone is designed. The frame structure can ensure the safety of the UAV receipt transmission, effectively reduce the difficulty of operation, simplify the operation steps, and reduce the cost of the user.

As another preferred embodiment, the data frame further includes: the aircraft type of the drone.

As another preferred embodiment, the data frame further includes: the type of the ground station and the control station number of the ground station.

As another preferred embodiment, the data frame may further include: a frame trailer.

In the implementation, the UAV receives the data sent by the use unit through the line-of-sight link, wherein the data carries the recognition control instruction.

In the above embodiment, the use units may include: early warning aircraft, ships, aircraft carriers, and display consoles. It should be noted that the description of the use unit here is only for illustration, and the use unit may adopt an entity that can be used by the use unit in the related art, which is not used to limit the present application.

This embodiment also provides a data transmission method for an unmanned aerial vehicle. The method includes: using a unit to send second data to the unmanned aerial vehicle that satisfies the target task according to the target task, and the frame structure of the second data includes the second control instruction The identification and the third instruction content are used for the drone to perform flight control according to the first instruction content according to the flight control instruction identification, the first instruction content, the second recognition control instruction identification and the third instruction content sent by the ground station, and use the first instruction content. The contents of the three instructions perform mission control operations on the payload. In this preferred embodiment, according to the first data sent by the ground station and the second data sent by the use unit, when the drone is used in different places to perform tasks across regions, the object of use is not the drone itself, but the unmanned aerial vehicle itself. According to the mission loads such as photoelectric and radar carried by the aircraft, the UAV flight control and the UAV mission load control are differentiated, and only the control right of the mission load is handed over, and the frame structure of the UAV data transmission is designed. The frame structure can ensure the safety of the UAV receipt transmission, effectively reduce the difficulty of operation, simplify the operation steps, and reduce the cost of the user.

In the above-mentioned embodiment and its preferred implementation, the command and control station sends flight control/any control commands through satellite relay communication, and the remote control commands include a flight control command set and a mission control command set, and the content is distinguished by the flight control and command identification frames. .

As a preferred embodiment, each use unit sends a control command through line-of-sight communication, and each use unit is defined with a unique designated identification (ID), and the ID can be determined by the control station type/station number of the remote control command frame. By definition, only the task control command set is sent in the command frame.

In the above embodiments and preferred implementations, the data frame structure may adopt the length of a general data frame structure, for example, the total frame length is 64 bytes. In this way, the compatibility of the data structure can be improved.

Table 1 shows the content of the frame structure of the ground station. As shown in Table 1, the frame structure includes 64 bytes, including 2 bytes of frame header, 4 bytes of key area, 1 byte of aircraft type, 1 Byte control station type, 11-byte control station number, 1-byte identification and control instruction identification or flight control instruction identification, 51-byte instruction identification, and 2-byte frame end.

Table 2 shows the content of the frame structure using the unit. As shown in Table 2, the frame structure includes 64 bytes, including a 2-byte frame header, a 4-byte key area, 1-byte aircraft type, 1-byte Byte control station type, 11-byte control station number, 1-byte control command identification, 51-byte instruction identification, 2-byte frame end.

As a preferred embodiment, the frame structure of the data sent by the ground station includes flight control instructions and recognition control instructions. The frame structure of the data sent by the use unit only includes the acknowledgement command.

Table 1

Table 2

The content of the frame structure (also refer to Figure 4) is described in further detail below:

The data frame header represents the start bit of the remote control data frame structure, with a total of 2 bytes.

Key area: The encryption algorithm fills the key area to realize data frame encryption, with a total of 4 bytes.

The aircraft type and aircraft number are represented by the address of the target aircraft, each with 1 byte.

Ground station type and ground station number represent the ground station type and number, each with 2 bytes.

The flight control/any control instruction identifier is used to determine the type of the content of the remote control data frame, and there is a total of 1 byte.

The command content frame contains the specific control content of the flight control/any control command, with a total of 51 bytes.

The end of the data frame represents the end bit of the remote control data frame structure, with a total of 2 bytes.

On the data processing side, the frame structure after processing the data frame is shown in Table 3:

table 3

It should be noted that the steps shown in the flowcharts of the accompanying drawings may be executed in a computer system, such as a set of computer-executable instructions, and, although a logical sequence is shown in the flowcharts, in some cases, Steps shown or described may be performed in an order different from that herein.

In another embodiment, a UAV data transmission software is also provided, and the software is used to execute the technical solutions described in the foregoing embodiment and the preferred embodiment.

In another embodiment, a storage medium is also provided, in which the above-mentioned UAV data transmission software is stored, and the storage medium includes but is not limited to: an optical disk, a floppy disk, a hard disk, a rewritable memory, and the like.

The embodiment of the present invention also provides a UAV data transmission device. The UAV data transmission device can be used to realize the above-mentioned UAV data transmission method and preferred embodiment. The modules involved in the UAV data transmission device will be described. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the systems and methods described in the following embodiments are preferably implemented in software, implementations in hardware, or a combination of software and hardware, are also possible and contemplated.

Fig. 2 is a structural block diagram of a UAV data transmission device according to an embodiment of the present invention, located in the UAV, as shown in Fig. 2, the device includes:

The receiving module 22 is used for receiving the first data sent by the ground station and the second data sent by the use unit, wherein the frame structure of the first data includes: the flight control instruction identifier and the first instruction content; and/or the first authentication control The instruction identifier and the second instruction content; the frame structure of the second data includes the second control instruction identifier and the third instruction content;

The execution module 24 is connected to the receiving module 22, and is configured to perform flight control according to the content of the first instruction according to the first data and the second data received by the receiving module 22, and perform mission control operations on the payload according to the content of the third instruction.

The UAV system defines the ID and instruction content of the command and control station and the use unit through the data frame protocol. The control station controls the UAV at a long distance through satellite relay communication. After reaching the use area, the use unit passes the line of sight. The link sends the certification command. After the control station confirms, the unit can operate the UAV mission load through the line-of-sight link. Through the line-of-sight communication and satellite relay communication, the user unit and the ground station can complete the control of the UAV load. Switching control.

3 is a structural block diagram of a UAV data transmission device according to an embodiment of the present invention. As shown in FIG. 3 , the device may further include: a processing module 32 for analyzing the following information to generate the flight control of the UAV Commands and Control Commands:

Flight control instruction identification and/or first instruction content;

The second flight control instruction identification and the third instruction content;

Wherein, the frame structure corresponding to the flight control instruction includes: the frame header of the flight control instruction and the instruction content; the frame structure corresponding to the arbitrary control instruction includes: the header of the arbitrary control instruction and the instruction content, and the information contained in the arbitrary control instruction is the first information sent by the use unit. The identification of the second control command and the content of the third command.

The downlink data transmission bandwidth between the use unit and the control station is 2-8Mbps; the use unit is a small platform line-of-sight device such as a portable display console, and the use distance is 20-100km; the use unit is a large platform line-of-sight equipment such as early warning aircraft or large ships, and the use distance Up to 250km; the control station is relayed through satellite communication, and the use distance can reach 2000km.

In this UAV system, each use unit sends remote control commands through line-of-sight communication, and each use unit is defined with a unique designated ID, the ID is located in the frame header of each remote control command information frame, and only the mission control command set is sent in the command frame. .

In this UAV system, the command and control station sends remote control commands through satellite relay communication. The remote control commands include a flight control command set and a mission control command set, and the command content is distinguished by the flight control and any control command identifiers.

In this UAV system, the data processing terminal of the UAV (complete the function of the processing module) will package the control commands received through the satellite communication link and the control commands received by the line of sight to generate new commands. set.

This embodiment provides an unmanned aerial vehicle, including the structure and preferred embodiments of the data transmission device of the unmanned aerial vehicle shown in FIGS. 2 and 3 , which will not be repeated here.

This embodiment provides an unmanned aerial vehicle data transmission device, located in the use unit, including:

The sending module is used to send the second data to the drone that meets the target task according to the target task. The frame structure of the second data includes the second control command identifier and the third command content, which is used for the drone to send according to the ground station. The flight control instruction identification, the first instruction content, the second recognition control instruction identification and the third instruction content are carried out according to the first instruction content, and the mission control operation is performed on the payload by using the third instruction content.

This embodiment provides a use unit, and the use unit includes the structure of the above-mentioned UAV data transmission device, which will not be repeated here.

In this UAV system, common mission loads include optoelectronics, synthetic aperture radar, and airborne communication relay equipment.

To sum up, through the above-mentioned embodiments and preferred implementations of the present invention, a method and device for data transmission of an unmanned aerial vehicle, an unmanned aerial vehicle and a ground station are provided. When UAVs use cross-regional tasks in different places, the object of use is not the UAV itself, but the photoelectric, radar and other mission loads carried by the UAV. We control the UAV flight control and UAV mission load control. Differentiation is carried out, only the control of the task load is handed over, and the control of the UAV is not handed over. By formulating relevant information standards and technical specifications, the frame structure in the standardized UAV data transmission is designed. The frame structure can ensure the safety of the UAV receipt transmission, effectively reduce the difficulty of operation, simplify the operation steps, and reduce the cost of the user.

Obviously, those skilled in the art should understand that the above-mentioned modules or steps of the present invention can be implemented by a general-purpose computing device, which can be centralized on a single computing device, or distributed in a network composed of multiple computing devices Alternatively, they can be implemented with program codes executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or some of them can be Multiple modules or steps are implemented as a single integrated circuit module. As such, the present invention is not limited to any particular combination of hardware and software.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (17)

1. An unmanned aerial vehicle data transmission method is characterized by comprising the following steps:

the unmanned aerial vehicle receives first data sent by a ground station and second data sent by a using unit, wherein the frame structure of the first data comprises: flight control instruction identification and first instruction content; and/or the first identification command and the second command content; the frame structure of the second data comprises a second arbitrary control instruction identification and third instruction content;

and the unmanned aerial vehicle carries out flight control according to the first instruction content and the third instruction content according to the first data and the second data, and carries out task control operation on the load according to the third instruction content.

2. The unmanned aerial vehicle data transmission method according to claim 1, wherein before the unmanned aerial vehicle performs flight control according to the first instruction content and the third instruction content based on the first data and the second data, the method further comprises:

the unmanned aerial vehicle analyzes the following information to generate a flight control instruction and an arbitrary control instruction of the unmanned aerial vehicle:

the flight control instruction identification and/or the first instruction content;

the second flight control instruction identification and the third instruction content;

wherein, the frame structure corresponding to the flight control instruction comprises: flight control instruction frame headers and instruction contents; the frame structure corresponding to the override instruction comprises: and the control command comprises a header and a command content, and the information contained in the control command is a second control command identification and a third command content sent by the using unit.

3. The unmanned aerial vehicle data transmission method of claim 2, wherein the frame structure further comprises: the airplane type of the drone.

4. The unmanned aerial vehicle data transmission method of claim 2, wherein the frame structure further comprises: the type of the ground station and the control station number of the ground station.

5. The unmanned aerial vehicle data transmission method of claim 1, wherein the frame structure and the frame structure further comprise: and (5) frame ending.

6. The drone data transmission method according to any one of claims 1 to 5, the drone receiving the second data sent by the usage unit including:

the unmanned aerial vehicle receives the second data sent by the using unit through a line-of-sight link.

7. The unmanned aerial vehicle data transmission method of any one of claims 1 to 3,

the use unit includes: early warning aircraft, naval vessels, aircraft carriers and display and control consoles.

8. An unmanned aerial vehicle data transmission method is characterized by comprising the following steps:

the using unit sends second data to the unmanned aerial vehicle meeting the target task according to the target task, wherein a frame structure of the second data comprises a second arbitrary control instruction identifier and a third instruction content, and the second arbitrary control instruction identifier and the third instruction content are used for the unmanned aerial vehicle to carry out flight control according to the first instruction content and use the third instruction content to carry out task control operation on loads according to the flight control instruction identifier, the first instruction content, the second recognition control instruction identifier and the third instruction content sent by the ground station.

9. The drone control handover method of claim 8,

the use unit includes: early warning aircraft, naval vessels, aircraft carriers and display and control consoles.

10. An unmanned aerial vehicle data transmission device, its characterized in that includes:

a receiving module, configured to receive first data sent by a ground station and second data sent by a using unit, where a frame structure of the first data includes: flight control instruction identification and first instruction content; and/or the first identification command and the second command content; the frame structure of the second data comprises a second arbitrary control instruction identification and third instruction content;

and the execution module is used for carrying out flight control according to the first instruction content and the third instruction content according to the first data and the second data and carrying out task control operation on the load according to the third instruction content.

11. The unmanned aerial vehicle data transmission device of claim 10, further comprising:

the processing module is used for analyzing the following information to generate the flight control instruction and the arbitrary control instruction of the unmanned aerial vehicle:

the flight control instruction identification and/or the first instruction content;

the second flight control instruction identification and the third instruction content;

wherein, the frame structure corresponding to the flight control instruction comprises: flight control instruction frame headers and instruction contents; the frame structure corresponding to the arbitrary control instruction comprises: and the control command comprises a header and a command content, and the information contained in the control command is a second control command identification and a third command content sent by the using unit.

12. The unmanned aerial vehicle data transmission device of claim 11, wherein the frame structure further comprises: the airplane type of the drone.

13. The unmanned aerial vehicle data transmission device of claim 11, wherein the frame structure further comprises: the type of the ground station and the control station number of the ground station.

14. The unmanned aerial vehicle data transmission device of claim 11, wherein the frame structure further comprises: and (5) frame ending.

15. An unmanned aerial vehicle, comprising:

the drone data transfer device of any one of claims 10 to 14.

16. The utility model provides an unmanned aerial vehicle data transmission device is located the use unit, its characterized in that includes:

and the sending module is used for sending second data to the unmanned aerial vehicle meeting the target task according to the target task, wherein the frame structure of the second data comprises a second arbitrary control instruction identifier and a third instruction content, and the second data is used for carrying out flight control on the unmanned aerial vehicle according to the flight control instruction identifier, the first instruction content, the second recognition control instruction identifier and the third instruction content sent by the ground station, and using the third instruction content to carry out task control operation on the load.

17. A usage unit, comprising:

the unmanned aerial vehicle data transmission device of claim 16.

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