摘要： 现有MavLink协议的设计主要面向低速率、大数据量的消息传输,存在移动通信信道特性差、环境干扰因素多等问题。为此,提出一种新型的MUAV-MTP协议,用于微型无人机移动传输身份验证、路线以及控制信息。借鉴现有的移动MavLink通信协议,将原协议转换为面向微型无人机的远程移动控制协议,通过简短的指令包完成无人机的巡航移动控制,并使其同时支持TCP、UDP协议。实验结果表明,MUAV-MTP协议具有操作简便、接口通用,具有良好的扩展性及鲁棒性,可用于基于Pixhawk飞控组装无人机的测试开发。

关键词: 微型无人机, MUAV-MTP协议, 移动通信, MavLink 协议, 远程控制

Abstract: The existing design of the MavLink protocol is mainly aimed at low-rate,large-data-rate message transmission,there are problems such as poor characteristics of mobile communication channels,and many environmental interference factors.Therefore,a new type of Mini Unmanned Aerial Vehicle-Mobile Transfer Protocol(MUAV-MTP) protocol is proposed for mobile transmission authentication,routing and control information.By referring to the existing mobile MavLink communication protocol,the original protocol is converted into a remote mobile control protocol.USA’s cruising movement control is achieved through a short instruction packet,and the TCP and UDP protocols are supported at the same time.Experimental results show that the MUAV-MTP protocol has the advantages of simple operation,universal interface,good extensibility and robustness,and can be used to test and develop UAV based on Pixhawk flight control.

Key words: Mini Unmanned Aerial Vehicle(Mini UAV), MUAV-MTP protocol, mobile communication, MavLink protocol, remote control

中图分类号: 

• TP391