CN101790248B - Auto-management data link of micro unmanned aerial vehicles - Google Patents
Auto-management data link of micro unmanned aerial vehicles Download PDFInfo
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Abstract
The invention provides an auto-management data link of micro unmanned aerial vehicles, which comprises a physical medium which is 2.4 to 2.483GHz microwaves, a link protocol which is ZigBee protocol is an international standard IEEE802.15.4-based wireless network protocol, and equipment formed by connecting a micro unmanned aerial vehicle model with a wireless module and an antenna, which are fixedly arranged in the unmanned aerial vehicle model, through a serial port RS-232. The wireless module consists of a ZigBee coordinator and a ZigBee router and adopts a half duplex communication mode; a data link network topology is a tree topology; and data link simulation software is the 14.5 edition of OPNET network simulation software. The data link allows the transmission speed of the unmanned aerial vehicles to reach 250kbps; the channel utilization rate can reach 90 percent; the packet transfer delay is 0.4s; and the throughput of the data link is 63kbps.
Description
Technical field
The present invention relates to auto-management data link of micro unmanned aerial vehicles, belong to wireless communication technology field.
Background technology
Along with the progress of science and technology of aviation and the traction of military struggle demand, unmanned plane (UnmannedAerial Vehicle, be called for short UAV) is as one of member of multiple aircraft formation cooperation, and its effect will be apparent more important.At present, domestic and international research to multiple no-manned plane formation cooperation mostly rests in the emulation of theoretical research and control algolithm and decision-making technique.
The research of " UAV SWARM Health Management Project " project team of Massachusetts Institute Technology, it is health management system arranged to have proposed a practicable unmanned group of planes.
This project proposes being based in the long-term controlled environment of a uniqueness, the indoor and outdoor multiple no-manned plane pilot system of taking a flight test.This experiment porch uses software and hardware to handle health management system arranged about single or a plurality of unmanned planes, such as failure diagnosis, energy consumption and maintenance.The main target of this project is included health control in whole unmanned plane planning system exactly, thereby improves the feasibility of whole task.The advantage of this experiment porch, it is very big related to be that commander and the hierarchy of control and the selection of unmanned plane of transducer and system has, thereby makes things convenient for the control of system.
Unmanned group of planes health control is the ground master control design of Massachusetts science and engineering seminar.This scheme is to be accomplished health control and monitored (list of references: Mario Valenti, Brett BethkeGaston Fiore, Jonathan P.How.Indoor Multi-Vehicle Flight Testbed for FaultDetection in real time by ground-based computer; Isolation; And Recovery.AIAA Guidance, Navigation, and ControlConference and Exhibit 21-24 August 2006); Its advantage is to have avoided on unmanned plane, accomplishing image processing and assignment decisions; Alleviated the unmanned plane load, less demanding to the controller of unmanned plane, and can increase deletion of node (unmanned plane) arbitrarily.The hardware structure diagram of the simplification of the Ground-to-Air Data Link of this project is as shown in Figure 1; The commander of multimachine and hierarchy of control block diagram are as shown in Figure 2.Fig. 1 is made up of M frame unmanned plane and M dolly, and the M on a ground dolly carries out work according to the requirement that computer is issued, and like flight path operation according to the rules, executes the task according to mission planning; The control command of aerial M frame unmanned plane receiving computer is followed the tracks of the dolly on ground then and is caught some information in the moving of car.Fig. 2 comprises three parts: UAV control order emission port; The framing system: unmanned plane position/angles data are through following the Ethernet transmission of ICP/IP protocol; Ground-based computer: carry out information processing and comprise that output signal processing (being transmitted to the control command of unmanned plane), control operation handle (comprising mission planning, task assignment, flight path design), input signal and handle and (comprise the environmental assessment device: unmanned plane/obstacle/dbjective state/position angle data).The all information processings of this scheme are all accomplished by ground-based computer, exist volume of transmitted data big, and the ground main control computer causes unmanned group of planes disaster out of control if break down.
Summary of the invention
For deficiency and the shortcoming that overcomes above-mentioned technology and method, the invention provides unmanned group of planes autonomous management data link.What this scheme adopted is the method for autonomous management: described autonomous management is meant that a system can break away from external influence and make a choice, and that is to say, produces the ability that oneself is intended to according to carrying out of task, and will is freely arranged in other words conj.or perhaps.Why the present invention adopts the mode of autonomous management is out of control for fear of a group of planes that when a unmanned group of planes and ground master control lose contact, causes, the interruption of communication link.This way to manage can effectively improve the efficient that a group of planes is executed the task.
The composition of auto-management data link of micro unmanned aerial vehicles comprises:
1. physical media, employing is the microwave of 2.4GHz～2.483GHz;
2. link protocol adopts the wireless network protocol ZigBee agreement based on international standard IEEE 802.15.4;
3. equipment; As shown in Figure 6; Every complete equipment is the MAV model by a hand size; The transmitting apparatus and the receiving equipment formation that connect to form through serial ports RS-232 and the wireless module and the antenna that fixedly place in the MAV model respectively, and transmitting apparatus and receiving equipment are same equipment; Described wireless module is made up of ZigBee telegon (ZC) and ZigBee router (ZR); ZigBee telegon (ZC) and ZigBee router (ZR) all adopt and can be used to send the half-duplex communication mode that data also can be used to receive data; Can only send data or can only receive data at the synchronization wireless module, when data were sent, wireless module used as wireless sending module; When Data Receiving, wireless module uses as wireless receiving module; The quantity of the MAV model of a described micro-unmanned group of planes is smaller or equal to 21 more than or equal to 3; Data chainning communication is the process of carrying out the bi-directional data information exchange between the aircraft, and data message is to adopt the form of frame to transmit;
The ZigBee telegon (ZC) of described wireless module; Be to set up network and setting technique parameter; Operate as normal and maintenance are with the communication of network others equipment in the responsible network, and it can extend the communication range of network through the ZigBee router, and a ZigBee network only allows a ZigBee telegon; It is equivalent to the server in the cable LAN, has the managerial ability to present networks; The first wireless module ZC for example shown in Figure 6 is node 0 and is the ZigBee telegon;
The ZigBee router (ZR) of described wireless module plays and keeps watch on or control action, and it also can be used as because apart from too far away and repeaters two equipment rooms that can't direct communication;
Described wireless module; Preferred model is C51RF-CC2430; Its master chip is the wireless singlechip CC2430 that is used for realizing embedded ZigBee application that Chipcon company releases; Have the directional antenna that the common wireless communications of straight cutting is used above the module, it supports the IEEE802.15.4/ZigBee agreement of 2.4GHz～2.483GHz.
The key property of wireless singlechip CC2430 is:
1) 8051 microcontroller kernels of high-performance, low-power consumption;
2) the RF transceiver of adaptation 2.4GHz～2.483GHz IEEE802.15.4;
3) 32MHz crystal oscillator;
4) onboard flash memory of 128KB;
5) supply voltage wide ranges (2.0V～3.6V);
6) current drain little (when the microcontroller kernel operated in 32MHz, RX was 27mA, and TX is 25mA);
7) under the power-down mode, current drain has only 0.9uA;
8) under the hang-up mode, current drain is less than 0.6uA,
9) 8KB SRAM possesses the data holding ability under various supply power modes.
4. computer program comprises wireless transmission data program and wireless receiving data program;
Described wireless transmission data program is stored in the wireless module ZC and ZR as shown in Figure 6, and wireless transmission data program flow chart is as shown in Figure 4:
Step 400 initialization is provided with the channel that sends data to the wireless singlechip CC2430 of the wireless sending module of transmitting apparatus;
Step 415 access channel; (the carrier sense multiple spot inserts/avoids collision to adopt CSMA/CA; Carrier Sense Multiple Access with Collision Avoidance) algorithm accesses channel, if channel is detected as the free time, transmitting apparatus will send data; If channel is detected as busy, transmitting apparatus will be waited for one period at random, and whether detect channel after random time is kept out of the way again busy; If still busy then the continuation waited for, continue to detect, till channel is detected as the free time;
Step 420 gets into transmit status, if channel idle then gets into transmit status, whether monitoring has data to send;
Step 425 is sent data, and monitoring has data to send, and then transmitting apparatus sends data.
Described wireless receiving data program is stored in the wireless module ZC and ZR as shown in Figure 6, and wireless receiving data program flow chart is as shown in Figure 5:
Step 500 initialization is provided with the channel that receives data to the wireless singlechip CC2430 of the wireless receiving module of receiving equipment;
Step 515 access channel adopts CSMA/CA algorithm accesses channel, if channel is detected as the free time, receiving equipment will receive data; If channel is detected as busy, receiving equipment will be waited for one period at random, and whether detect channel after random time is kept out of the way again busy; If still busy then the continuation waited for, continue to detect, till channel is detected as the free time;
Step 520 gets into accepting state, if channel idle then gets into accepting state, whether monitoring has data to receive;
Step 525 receives data, and monitoring has data to receive, and then receiving equipment receives data and store the internal memory of CC2430 into medium pending; Receiving equipment receives that returning to confirmation signal proof of transmitting apparatus after the correct data oneself receives;
5. the data chainning network topology structure is a tree topology
The network topology structure of ZigBee agreement mainly contains three kinds: star topology, tree topology and mesh topology.As shown in Figure 3, what the present invention adopted is the tree topology structure, and the shape of this tree topology structure is as an inverted tree, and the top is a tree root, and the branch of band below the tree root, each branch be belt branch more also.The advantage of tree topology: (1) is easy to expansion; (2) Fault Isolation is easier to.
Data chainning adopts the tree topology structure; Can carry out differentiated control to a unmanned group of planes; As shown in Figure 3 promptly except that next stage node 15,16,17,18,19,20, all the other nodes all have child node, and each node only is in charge of its next stage child node; Be calculated to the task and the flight path of too many by two node as long as that is to say each node, receive gps system information location by root node 0.And each child node is all inherited all information of father node, and for example child node 3 and 4 is all inherited all information of father node 1, and shown in the dotted line among Fig. 3, has communication link with their father node 1 right subtree node 2 at the same level; Promptly do not have control relation, have only message transmission, like this; In case node failure is arranged, shot down or interrupted communication link like node 1, can promote by its right subtree node 4; Regain the control of the node 3 that origin node 1 is relied on, proceed communication.This scheme has avoided because the unmanned plane cluster communication disruption out of control that ground master control set fault causes, and the amount of calculation of root node also reduces relatively, but the amount of information of the required preservation of downstream site is bigger.
6. the data chainning simulation software is OPNET network simulation software 14.5 versions, and OPNET is the network simulation software of U.S. MIL3 company exploitation;
This software is a kind of outstanding network simulation and modeling tool, and it adopts the function and the performance of the machine-processed simulation analysis model of discrete event driving.Its adopts layered modeling mechanism, and discrete event drives, based on the communication mechanism of packet, and embedded multiple flow modeling method, can accomplish the emulation of existing various communication systems.Why the present invention adopts 14.5 versions to be because have only this version that the ZigBee agreement is just arranged, and just in time meets our requirement.
Data chainning emulation is a computer simulation process to theoretical experimental phenomena; OPNET network simulation software with being installed on the common computer carries out emulation to the slot efficiency of throughput, time-delay and the channel of the transfer of data of data chainning; Analyze simulation result, improve perfect accordingly data chainning.
The dynamic duty process of data chainning:
(1) adding network connects.In order to communicate, must set up data chainning earlier.MAC 72 (the medium access control sublayer of the ZigBee agreement that can follow through wireless module like equipment of Fig. 7; Media Access Control) the related network that adds of layer; Process is the NWK71 (network layer through the ZigBee agreement of following to wireless module; Network) layer sends NLME-NETWORK-DISCOVERY.request (request adds network) order; After the NWK71 layer receives that request command is found at the networking, just send MLME-SCAN.request (scan channel) order to the MAC72 layer, the information of scanning and matched is also preserved; After the scanning of MAC72 layer is accomplished, send MLME-SCAN.confirm (end of scan) order, will add network by permission equipment according to information matching after NWK71 receives orders to NWK71.Through adding network, equipment needed thereby just can operate as normal.
(2) communication.Data chainning communication is the process of carrying out the bi-directional data information exchange between the aircraft, and data message is to adopt the form of frame to transmit, and the form of frame is as shown in Figure 8, and every frame maximum can be transmitted 127 bytes.The MAC72 layer like Fig. 7 ZigBee agreement that the wireless sending module of transmitting apparatus is followed utilizes data, services accessing points SAP73 (Service Access Point) to send to Frame the wireless receiving module of receiving equipment.When wait acknowledge, the MAC72 layer of the wireless sending module of transmitting apparatus starts a timer, and timing time is the individual symbol period of macAckWaitDuration (the affirmation stand-by period that the MAC layer is maximum).After the MAC72 layer of the wireless receiving module of receiving equipment is received Frame,, and filter the frame received, only be submitted to the upper strata to useful frame to acknowledgement frame of wireless sending module loopback of transmitting apparatus.The MAC72 of the wireless sending module of transmitting apparatus just closes and reset timer after before timing finishes, receiving the affirmation that the wireless receiving module of receiving equipment beams back.Data were sent and were accomplished this moment, and the MAC72 of the wireless sending module of transmitting apparatus just sends one to the upper strata and successfully confirms.
(3) wrong detection and recovery.The media access control sublayer postamble contains 16 CRC of employing, and (cyclic redundancy is checked; Cyclic Redundancy Check) Frame Check Sequence (FCS that comes out of algorithm computation; Frame CheckSequence); Be used for receiving equipment and judge whether this packet is correct, then adopt ARQ (error detection is retransmitted, Automatic Repeat Request) to carry out the mistake recovery if mistake occurs.
(4) busy state.Busy state is meant that wireless channel is just at the occupied and state that temporarily can not receive information frame that cause.Transmitting apparatus adopts the channel access of CSMA/CA machine-processed at the MAC layer, and so-called CSMA/CA is exactly before transmission, and whether the inspection channel have transfer of data earlier: as if the transmission of channel free of data, then begin to carry out transfer of data; If then a period of time retransmits again after a while to produce collision.
(5) disconnecting link.The mode of disconnecting link is different because of breaking off the initiator, and generally by after the request of side transmission disconnecting link, both sides promptly stopped communication after the opposing party made and replying.If transmitting apparatus sends the disconnecting link request, receiving equipment replies to transmitting apparatus if receiving equipment receives that data have been received this moment in the request back allows disconnecting link to reply, and both sides promptly stop communication.
Beneficial effect
The group of planes that the present invention adopts the mode of autonomous management to avoid when a unmanned group of planes and ground master control set lose contact, causing is out of control, the interruption of communication link.This autonomous management mode can effectively improve the efficient that a group of planes is executed the task.The data chainning of unmanned group of planes autonomous management is the integrated communications system of carrying out message transmission and exchange between the unmanned group of planes; The performance of data chainning directly has influence on the overall performance of unmanned plane group communication, and data chainning transmission rate of the present invention is fast, antijamming capability is strong, the error rate is low.The transmission rate of data chainning of the present invention can reach 250kbps, and channel utilization can reach 90%, and the bag propagation delay time is 0.4s, and the throughput of data chainning is 63kbps.
Description of drawings
Fig. 1 is that the hardware of the simplification of prior art constitutes sketch map.
Fig. 2 is the commander and the hierarchy of control block diagram of the multimachine of prior art.
Fig. 3 is the tree topology structure chart of the data chainning network of the present invention's employing.
The transmission data program flow chart that Fig. 4 adopts for the present invention.
The reception data program flow chart that Fig. 5 adopts for the present invention.
Fig. 6 is that data chainning provided by the invention constitutes schematic block diagram.
The ZigBee protocol stack structure figure that Fig. 7 adopts for the present invention.
The mac layer frame format chart that Fig. 8 adopts for the present invention.
Embodiment
Embodiment 1:
The present invention forms and comprises:
The composition of auto-management data link of micro unmanned aerial vehicles comprises:
1. physical media, employing is the microwave of 2.4GHz～2.483GHz;
2. link protocol adopts the wireless network protocol ZigBee agreement based on international standard IEEE 802.15.4;
3. equipment; As shown in Figure 6; Every complete equipment is the MAV model by a hand size; The transmitting apparatus and the receiving equipment formation that connect to form through serial ports RS-232 and the wireless module and the antenna that fixedly place in the MAV model respectively, and transmitting apparatus and receiving equipment are same equipment; Described wireless module is by comprising that ZigBee telegon (ZC) and ZigBee router (ZR) constitute; ZigBee telegon (ZC) and ZigBee router (ZR) all adopt and can be used to send the half-duplex communication mode that data also can be used to receive data; Can only send data or can only receive data at the synchronization wireless module; When data were sent, wireless module used as wireless sending module; When Data Receiving, wireless module uses as wireless receiving module; The quantity of the MAV model of a described micro-unmanned group of planes is 3; Data chainning communication is the process of carrying out the bi-directional data information exchange between the aircraft, and data message is to adopt the form of frame to transmit;
The ZigBee telegon (ZC) of described wireless module; Be to set up network and setting technique parameter; Operate as normal and maintenance are with the communication of network others equipment in the responsible network, and it can extend the communication range of network through the ZigBee router, and a ZigBee network only allows a ZigBee telegon; It is equivalent to the server in the cable LAN, has the managerial ability to present networks; The first wireless module ZC for example shown in Figure 6 is node 0 and is the ZigBee telegon;
The ZigBee router (ZR) of described wireless module plays and keeps watch on or control action, and it also can be used as because apart from too far away and repeaters two equipment rooms that can't direct communication;
Described wireless module; Preferred model is C51RF-CC2430; Its master chip is the wireless singlechip CC2430 that is used for realizing embedded ZigBee application that Chipcon company releases; Have the directional antenna that the common wireless communications of straight cutting is used above the module, it supports the IEEE802.15.4/ZigBee agreement of 2.4GHz～2.483GHz.
The key property of wireless singlechip CC2430 is:
1) 8051 microcontroller kernels of high-performance, low-power consumption;
2) the RF transceiver of adaptation 2.4GHz～2.483GHz IEEE802.15.4;
3) 32MHz crystal oscillator;
4) onboard flash memory of 128KB;
5) supply voltage wide ranges (2.0V～3.6V);
6) current drain little (when the microcontroller kernel operated in 32MHz, RX was 27mA, and TX is 25mA);
7) under the power-down mode, current drain has only 0.9uA;
8) under the hang-up mode, current drain is less than 0.6uA;
9) 8KB SRAM possesses the data holding ability under various supply power modes.
4. computer program comprises wireless transmission data program and wireless receiving data program;
Described wireless transmission data program is stored in the wireless module ZC and ZR as shown in Figure 6, and wireless transmission data program flow chart is as shown in Figure 4:
Step 400 initialization is provided with the channel that sends data to the wireless singlechip CC2430 of the wireless sending module of transmitting apparatus;
Step 415 access channel; (the carrier sense multiple spot inserts/avoids collision to adopt CSMA/CA; Carrier Sense Multiple Access with Collision Avoidance) algorithm accesses channel, if channel is detected as the free time, transmitting apparatus will send data; If channel is detected as busy, transmitting apparatus will be waited for one period at random, and whether detect channel after random time is kept out of the way again busy; If still busy then the continuation waited for, continue to detect, till channel is detected as the free time;
Step 420 gets into transmit status, if channel idle then gets into transmit status, whether monitoring has data to send;
Step 425 is sent data, and monitoring has data to send, and then transmitting apparatus sends data.
Described wireless receiving data program is stored in the wireless module ZC and ZR as shown in Figure 6, and wireless receiving data program flow chart is as shown in Figure 5:
Step 500 initialization is provided with the channel that receives data to the wireless singlechip CC2430 of the wireless receiving module of receiving equipment;
Step 515 access channel adopts CSMA/CA algorithm accesses channel, if channel is detected as the free time, receiving equipment will receive data; If channel is detected as busy, receiving equipment will be waited for one period at random, and whether detect channel after random time is kept out of the way again busy; If still busy then the continuation waited for, continue to detect, till channel is detected as the free time;
Step 520 gets into accepting state, if channel idle then gets into accepting state, whether monitoring has data to receive
Step 525 receives data, and monitoring has data to receive, and then receiving equipment receives data and store the internal memory of CC2430 into medium pending; Receiving equipment receives that returning to confirmation signal proof of transmitting apparatus after the correct data oneself receives.
5. the data chainning network topology structure is a tree topology
The network topology structure of ZigBee agreement mainly contains three kinds: star topology, tree topology and mesh topology.As shown in Figure 3, what the present invention adopted is the tree topology structure, and the shape of this tree topology structure is as an inverted tree, and the top is a tree root, and the branch of band below the tree root, each branch be belt branch more also.The advantage of tree topology: (1) is easy to expansion; (2) Fault Isolation is easier to.
Data chainning adopts the tree topology structure; Can carry out differentiated control to a unmanned group of planes; As shown in Figure 3 promptly except that next stage node 15,16,17,18,19,20, all the other nodes all have child node, and each node only is in charge of its next stage child node; Be calculated to the task and the flight path of too many by two node as long as that is to say each node, receive gps system information location by root node 0.And each child node is all inherited all information of father node, and for example child node 3 and 4 is all inherited all information of father node 1, and shown in the dotted line among Fig. 3, has communication link with their father node 1 right subtree node 2 at the same level; Promptly do not have control relation, have only message transmission, like this; In case node failure is arranged, shot down or interrupted communication link like node 1, can promote by its right subtree node 4; Regain the control of the node 3 that origin node 1 is relied on, proceed communication.This scheme has avoided because the unmanned plane cluster communication disruption out of control that ground master control set fault causes, and the amount of calculation of root node also reduces relatively, but the amount of information of the required preservation of downstream site is bigger.
6. the data chainning simulation software is OPNET network simulation software 14.5 versions, and OPNET is the network simulation software of U.S. MIL3 company exploitation;
This software is a kind of outstanding network simulation and modeling tool, and it adopts the function and the performance of the machine-processed simulation analysis model of discrete event driving.Its adopts layered modeling mechanism, and discrete event drives, based on the communication mechanism of packet, and embedded multiple flow modeling method, can accomplish the emulation of existing various communication systems.Why the present invention adopts 14.5 versions to be because have only this version that the ZigBee agreement is just arranged, and just in time meets our requirement.
Data chainning emulation is a computer simulation process to theoretical experimental phenomena; OPNET network simulation software with being installed on the common computer carries out emulation to the slot efficiency of throughput, time-delay and the channel of the transfer of data of data chainning; Analyze simulation result, improve perfect accordingly data chainning.
The dynamic duty process of data chainning:
(1) adding network connects.In order to communicate, must set up data chainning earlier.MAC 72 (the medium access control sublayer of the ZigBee agreement that can follow through wireless module like equipment of Fig. 7; Media Access Control) the related network that adds of layer; Process is the NWK71 (network layer through the ZigBee agreement of following to wireless module; Network) layer sends NLME-NETWORK-DISCOVERY.request (request adds network) order; After the NWK71 layer receives that request command is found at the networking, just send MLME-SCAN.request (scan channel) order to the MAC72 layer, the information of scanning and matched is also preserved; After the scanning of MAC72 layer is accomplished, send MLME-SCAN.confirm (end of scan) order, will add network by permission equipment according to information matching after NWK71 receives orders to NWK71.Through adding network, equipment needed thereby just can operate as normal.
(2) communication.Data chainning communication is the process of carrying out the bi-directional data information exchange between the aircraft, and data message is to adopt the form of frame to transmit, and the form of frame is as shown in Figure 8, and every frame maximum can be transmitted 127 bytes.The MAC72 layer like Fig. 7 ZigBee agreement that the wireless sending module of transmitting apparatus is followed utilizes data, services accessing points SAP73 (Service Access Point) to send to Frame the wireless receiving module of receiving equipment.When wait acknowledge, the MAC72 layer of the wireless sending module of transmitting apparatus starts a timer, and timing time is the individual symbol period of macAckWaitDuration (the affirmation stand-by period that the MAC layer is maximum).After the MAC72 layer of the wireless receiving module of receiving equipment is received Frame,, and filter the frame received, only be submitted to the upper strata to useful frame to acknowledgement frame of wireless sending module loopback of transmitting apparatus.The MAC72 of the wireless sending module of transmitting apparatus just closes and reset timer after before timing finishes, receiving the affirmation that the wireless receiving module of receiving equipment beams back.Data were sent and were accomplished this moment, and the MAC72 of the wireless sending module of transmitting apparatus just sends one to the upper strata and successfully confirms.
(3) wrong detection and recovery.The media access control sublayer postamble contains 16 CRC of employing, and (cyclic redundancy is checked; Cyclic Redundancy Check) Frame Check Sequence (FCS that comes out of algorithm computation; Frame CheckSequence); Be used for receiving equipment and judge whether this packet is correct, then adopt ARQ (error detection is retransmitted, Automatic Repeat Request) to carry out the mistake recovery if mistake occurs.
(4) busy state.Busy state is meant that wireless channel is just at the occupied and state that temporarily can not receive information frame that cause.Transmitting apparatus adopts the channel access of CSMA/CA machine-processed at the MAC layer, and so-called CSMA/CA is exactly before transmission, and whether the inspection channel have transfer of data earlier: as if the transmission of channel free of data, then begin to carry out transfer of data; If then a period of time retransmits again after a while to produce collision.
(5) disconnecting link.The mode of disconnecting link is different because of breaking off the initiator, and generally by after the request of side transmission disconnecting link, both sides promptly stopped communication after the opposing party made and replying.If transmitting apparatus sends the disconnecting link request, receiving equipment replies to transmitting apparatus if receiving equipment receives that data have been received this moment in the request back allows disconnecting link to reply, and both sides promptly stop communication.
Embodiment 2: the quantity of the MAV model of the 3. equipment of present embodiment is 10; Remaining is with embodiment 1.
Embodiment 3: the quantity of the MAV model of the 3. equipment of present embodiment is 15; Remaining is with embodiment 1.
Embodiment 4: the quantity of the MAV model of the 3. equipment of present embodiment is 21; Remaining is with embodiment 1.
Claims (1)
1. auto-management data link of micro unmanned aerial vehicles is characterized in that, its composition comprises:
1. physical media, employing is the microwave of 2.4GHz～2.483GHz;
2. link protocol adopts the wireless network protocol ZigBee agreement based on international standard IEEE 802.15.4;
3. equipment; Every complete equipment is to be made up of with transmitting apparatus and the receiving equipment that the wireless module and the antenna that fixedly place in this MAV model connect to form respectively the serial ports RS-232 in the MAV model of a hand size, this MAV model; And transmitting apparatus and receiving equipment are same equipment; The quantity of the MAV model of a described micro-unmanned group of planes is smaller or equal to 21 more than or equal to 3; Data chainning communication is the process of carrying out the bi-directional data information exchange between the aircraft, and data message is to adopt the form of frame to transmit; Described wireless module is made up of ZigBee telegon and ZigBee router; ZigBee telegon and ZigBee router all adopt and can be used to send the half-duplex communication mode that data also can be used to receive data, can only send data or can only receive data at the synchronization wireless module;
The ZigBee telegon of described wireless module; Be to set up network and setting technique parameter; Operate as normal and maintenance are with the communication of network others equipment in the responsible network, and it can extend the communication range of network through the ZigBee router, and a ZigBee network only allows a ZigBee telegon; It is equivalent to the server in the cable LAN, has the managerial ability to present networks;
The ZigBee router of described wireless module plays and keeps watch on or control action, and it also can be used as because apart from too far away and repeaters two equipment rooms that can't direct communication;
Described wireless module; Model is C51RF-CC2430; Its master chip is the wireless singlechip CC2430 that is used for realizing embedded ZigBee application that Chipcon company releases; Have the directional antenna that the common wireless communications of straight cutting is used above the module, it supports the IEEE 802.15.4/ZigBee agreement of 2.4GHz～2.483GHz;
The key property of wireless singlechip CC2430 is:
1) 8051 microcontroller kernels of high-performance, low-power consumption;
2) the RF transceiver of adaptation 2.4GHz～2.483GHz IEEE 802.15.4;
3) 32MHz crystal oscillator;
4) onboard flash memory of 128KB;
5) supply voltage wide ranges is specially: 2.0V～3.6V;
6) current drain is little: when the microcontroller kernel operated in 32MHz, RX was 27mA, and TX is 25mA;
7) under the power-down mode, current drain has only 0.9uA;
8) under the hang-up mode, current drain is less than 0.6uA;
9) 8KB SRAM possesses the data holding ability under various supply power modes;
4. computer program comprises wireless transmission data program and wireless receiving data program;
Described wireless transmission data program is stored in the ZigBee telegon and ZigBee router of wireless module; Carry out this program, the wireless singlechip CC2430 of the wireless sending module of transmitting apparatus is provided with the channel that sends data; Access channel is set, adopts the carrier sense multiple spot to insert/avoid and collide the algorithm accesses channel, if channel is detected as the free time, transmitting apparatus will send data; If channel is detected as busy, transmitting apparatus will be waited for one period at random, and whether detect channel after random time is kept out of the way again busy; If still busy then the continuation waited for, continue to detect, till channel is detected as the free time; Get into transmit status, if channel idle then gets into transmit status, whether monitoring has data to send; Send data, monitoring has data to send, and then transmitting apparatus sends data;
Described wireless receiving data program is stored in the ZigBee telegon and ZigBee router of wireless module; Carry out this program, the wireless singlechip CC2430 of the wireless receiving module of receiving equipment is provided with the channel that receives data; Access channel is set, adopts the carrier sense multiple spot to insert/avoid and collide the algorithm accesses channel, if channel is detected as the free time, receiving equipment will receive data; If channel is detected as busy, receiving equipment will be waited for one period at random, and whether detect channel after random time is kept out of the way again busy; If still busy then the continuation waited for, continue to detect, till channel is detected as the free time; Get into accepting state, if channel idle then gets into accepting state, whether monitoring has data to receive; Receive data, monitoring has data to receive, and then receiving equipment receives data and store the internal memory of CC2430 into medium pending; Receiving equipment receives that returning to confirmation signal proof of transmitting apparatus after the correct data oneself receives;
5. the data chainning network topology structure is a tree topology
The shape of described tree topology structure is as an inverted tree, and the top is a tree root, and the branch of band below the tree root, each branch be belt branch more also; Except that next stage node, all the other nodes all have child node, and each node only is in charge of its next stage child node; Be calculated to the task and the flight path of too many by two node as long as that is to say each node; Receive gps system information location by root node, and each child node is all inherited all information of father node, and have communication link with their father node right subtree node at the same level; But do not have control relation, have only message transmission; In case there is node to be shot down or interrupted communication link, can promote by its right subtree node, regain the control of the node that origin node is relied on, proceed communication;
6. the data chainning simulation software is OPNET network simulation software 14.5 versions, and OPNET is the network simulation software of U.S. MIL3 company exploitation.
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